Professional Documents
Culture Documents
2017 FR C Game Season Manual
2017 FR C Game Season Manual
FIRST, the FIRST logo, FIRST Robotics Competition, Coopertition, FIRST STEAMWORKS, Gracious Professionalism,
and Sport for the Mind are trademarks of For Inspiration and Recognition of Science and Technology (FIRST). 2016-2017
FIRST. All rights reserved.
Official FIRST Robotics Competition teams and Partners are permitted to make reproductions of this manual for team and
Partner use only. Any use, reproduction, or duplication of this manual for purposes other than directly by the team or Partner as
part of FIRST Robotics Competition participation is strictly prohibited without specific written permission from FIRST.
Contents
1 Introduction ............................................................................................................................. 7
1.1 About FIRST ..............................................................................................................................................7
1.2 FIRST Robotics Competition .....................................................................................................................7
1.3 Gracious Professionalism, a FIRST Credo ..................................................................................................7
1.4 Coopertition ................................................................................................................................................. 8
1.5 This Document and its Conventions ............................................................................................................. 9
1.6 Translations & Other Versions ................................................................................................................... 10
1.7 Team Updates ............................................................................................................................................ 10
1.8 Question and Answer System ....................................................................................................................... 11
3 ARENA .................................................................................................................................. 15
3.1 Zones and Markings ................................................................................................................................... 16
3.2 FIELD ....................................................................................................................................................... 18
3.3 GUARDRAIL ............................................................................................................................................ 18
3.4 AIRSHIP ................................................................................................................................................... 19
3.4.1 ROTORS ...................................................................................................................................................... 20
3.4.2 GEAR Sets .................................................................................................................................................... 22
3.5 LIFTS ...................................................................................................................................................... 24
3.6 STEAM TANK ......................................................................................................................................... 25
3.7 DAVIT ....................................................................................................................................................... 26
3.8 ROPE .........................................................................................................................................................27
3.9 TOUCHPAD .............................................................................................................................................27
3.10 HOPPERS ................................................................................................................................................. 29
3.11 ALLIANCE WALL ................................................................................................................................... 31
3.11.1 PLAYER STATION ................................................................................................................................... 31
3.11.2 Overflow LOADING STATION................................................................................................................ 33
3.11.3 Return LOADING STATIONS ................................................................................................................ 34
3.11.4 BOILER........................................................................................................................................................ 35
3.11.5 RETURN & OVERFLOW BINS ..............................................................................................................36
3.11.6 STEAM PIPE ..............................................................................................................................................36
3.12 GAME PIECES......................................................................................................................................... 37
3.12.1 FUEL ............................................................................................................................................................37
3.12.2 GEARS ..........................................................................................................................................................37
Contents
iii
3.13 Vision Targets ............................................................................................................................................ 38
3.14 The Field Management System .................................................................................................................. 38
5 Safety Rules............................................................................................................................ 47
8 ROBOT Rules........................................................................................................................ 64
8.1 Overview .................................................................................................................................................... 64
8.2 General ROBOT Design............................................................................................................................ 66
8.3 ROBOT Safety & Damage Prevention ...................................................................................................... 67
8.4 Budget Constraints & Fabrication Schedule ...............................................................................................69
8.5 BUMPER Rules .........................................................................................................................................75
8.6 Motors & Actuators .................................................................................................................................... 82
8.7 Power Distribution...................................................................................................................................... 85
8.8 Control, Command & Signals System ......................................................................................................... 91
8.9 Pneumatic System ....................................................................................................................................... 95
8.10 OPERATOR CONSOLE ........................................................................................................................ 100
10 Tournaments......................................................................................................................... 107
10.1 MATCH Schedules .................................................................................................................................. 107
Contents
iv
10.2 Practice MATCHES ................................................................................................................................ 107
10.2.1 Filler Line .............................................................................................................................................. 107
10.3 Measurement ............................................................................................................................................ 108
10.4 Qualification MATCHES ........................................................................................................................ 108
10.4.1 Schedule ................................................................................................................................................. 108
10.4.2 MATCH Assignment ............................................................................................................................ 108
10.4.3 Qualification Ranking ........................................................................................................................... 109
10.5 Playoff MATCHES ................................................................................................................................. 109
10.5.1 ALLIANCE Selection Process ............................................................................................................. 110
10.5.2 BACKUP TEAMS .................................................................................................................................. 111
10.5.3 Playoff MATCH Bracket ....................................................................................................................... 111
10.6 REFEREE Interaction ............................................................................................................................. 113
10.7 YELLOW and RED CARDS .................................................................................................................. 114
10.8 MATCH Replays ...................................................................................................................................... 115
10.9 TIMEOUTS and BACKUP TEAMS ...................................................................................................... 115
10.10 Pit Crews ................................................................................................................................................... 117
10.11 FIRST Championship Additions and Exceptions .................................................................................... 117
10.11.1 Four ROBOT ALLIANCES ................................................................................................................ 118
10.11.2 FIRST Championship Pit Crews ........................................................................................................... 118
10.11.3 FIRST Championship Playoffs .............................................................................................................. 119
10.11.4 FIRST Championship TIMEOUTS ....................................................................................................120
10.12 Advancement Between Tournaments ........................................................................................................ 120
10.12.1 Regional Events ...................................................................................................................................... 121
10.12.2 Wild Cards .............................................................................................................................................. 121
10.12.3 District Events ........................................................................................................................................ 122
Contents
v
1 Introduction
Please visit our website: www.firstinspires.org for more information about FIRST programs.
This varsity Sport for the Mind combines the excitement of sport with the rigors of science and
technology. Under strict rules, limited resources and time limits, teams of students are challenged to raise
funds, design a team brand, hone teamwork skills, and build and program ROBOTS to perform
prescribed tasks against a field of competitors. Its as close to real-world engineering as a student can
get.
Each January at the Kickoff, a new, challenging game is introduced. These exciting competitions combine
the practical application of science and technology with the fun, intense energy and excitement of a
championship-style sporting event. Teams are encouraged to display Gracious Professionalism and to
help other teams and cooperate while competing. This is known as Coopertition.
In 2017, FIRST Robotics Competition will reach 85,000 high-school students representing approximately
3,400 teams. Teams come from nearly every state in the United States, as well as many other countries.
FIRST Robotics Competition teams will participate in 55 Regional Competitions, 80 District Competitions,
and 10 District Championships. In addition, approximately 800 teams will qualify to go to one of the two
FIRST Championships at the end of April, 2017.
This years game was presented at the 2017 FIRST Robotics Competition Kickoff on Saturday, January
7, 2017.
saw the 2017 game, FIRST STEAMWORKSSM, for the first time
learned about the 2017 game rules and regulations
received a Kickoff Kit that provides a starting point for robot build
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Gracious Professionalism is not clearly defined for a reason. It can and should mean different things to
everyone.
In the context of FIRST, this means that all teams and participants should:
Learn to be strong competitors, but also treat one another with respect and kindness in the
process
Avoid leaving anyone feeling as if they are excluded or unappreciated
In the end, Gracious Professionalism is part of pursuing a meaningful life. When professionals use
knowledge in a gracious manner and individuals act with integrity and sensitivity, everyone wins and
society benefits.
It is a good idea to spend time going over this concept with your team and reinforcing it regularly. We
recommend providing your team with real-life examples of Gracious Professionalism in practice, such as
when a team loans valuable materials or expertise to another team that they will later face as an
opponent in competition. Routinely highlight opportunities to display Gracious Professionalism at events,
and encourage team members to suggest ways in which they can demonstrate this quality themselves
and through outreach activities.
1.4 Coopertition
At FIRST, Coopertition is displaying unqualified kindness and respect in the face of fierce competition.
Coopertition is founded on the concept and philosophy that teams can and should help and cooperate
with one another even as they compete. Coopertition involves learning from teammates and mentors.
Coopertition means competing always, but assisting and enabling others when you can.
The Woodie Flowers Award is the most prestigious mentoring award in FIRST. The award recipients as of
the 2015 FIRST Championship created an important message for all FIRST Robotics Competition teams
to consider as we tackle each season.
However, winning the right way and being proud of what you have accomplished and how you have
accomplished it is more important. FIRST could create rules and penalties to cover almost any scenario
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or situation, but we prefer an understandable game with simpler rules that allow us to think and be
creative in our designs.
We want to know that our partners and opponents are playing at their best in every match. We want to
know they are playing with integrity and not using strategies based on questionable behaviors.
As you create your robots and award presentations, prepare for competition and match play, create and
implement game strategies, and live your daily lives, remember what Woodie has said time and time
again, and lets Make your Grandmother proud.
The intent of this manual is that the text means exactly, and only, what it says. Please avoid interpreting
the text based on assumptions about intent, implementation of past rules, or how a situation might be in
real life. There are no hidden requirements or restrictions. If youve read everything, you know
everything.
Specific methods are used throughout this section to highlight warnings, cautions, key words and
phrases. These conventions are used to alert the reader to important information and are intended help
teams in constructing a ROBOT that complies with the rules in a safe manner.
Links to other section headings in this manual and external articles appear in green underlined text.
Key words that have a particular meaning within the context of the FIRST Robotics Competition and
FIRST STEAMWORKS are defined in Section 11 Glossary, and indicated in ALL CAPS throughout this
document.
The rule numbering scheme uses an indication of the section in which the rule is stated plus a serial
numbering system (e.g. safety rules begin with S, game rules begin with G, etc.). References to
specific rules use this scheme (e.g. S01 is the first rule in Section 5 Safety Rules).
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Warnings, cautions and notes appear in blue boxes. Pay close attention
to their contents as theyre intended to provide insight into the reasoning
behind a rule, helpful information on understanding or interpreting a rule,
and/or possible best practices for use when implementing systems
affected by a rule.
While blue boxes are part of the manual, they do not carry the weight of
the actual rule (if there is an inadvertent conflict between a rule and its
blue box, the rule supersedes the language in the blue box).
With the exception of nominal dimensions, imperial dimensions are followed by comparable metric
dimensions in parentheses to provide metric users with the approximate size, weight, etc. Metric
conversions for non-rules (e.g. FIELD dimensions) round to the nearest whole unit e.g. "17 in. (~43 cm)
and 6 ft. 4 in. (~193 cm). Metric conversions in rules round such that the metric dimension is compliant
with the rule (i.e. maximums round down, minimums round up). The metric conversions are offered for
convenient reference only and do not overrule or take the place of the imperial dimensions presented in
this manual and the field drawings (i.e. FIELD dimensions and rules will always defer to measurements
using imperial units).
Some sections and rules include colloquial language, also called headlines, in an effort to convey the
intent of the rule or rule set. This language is differentiated using bold brown text. Any disagreement
between the specific language used in the rules and the colloquial language is an error, and the specific
rule language is the ultimate authority. If you discover a disparity, please let us know and we will correct
it.
Team resources that arent generally season specific (e.g. what to expect at an event, communication
resources, team organization recommendations, ROBOT transportation procedures, and award
descriptions) can be found on the FIRST Robotics Competition website.
A text-based version can be provided only for use with assistive devices for visually and hearing impaired
persons, and not for redistribution. For more information, please contact
frcteamadvocate@firstinspires.org.
In the event that a rule or description is a modified in an alternate version of this manual, the English pdf
version as published on the FIRST website is the commanding version.
The Q&A is not a resource for rulings on hypothetical strategies or situations or a design review of a
ROBOT system for legality. The responses in the Q&A do not supersede the text in the manual, although
every effort will be made to eliminate inconsistencies between the two. While responses provided in the
Q&A may be used to aid discussion at each event, per Section 10.6 REFEREE Interaction and Section 9
Inspection & Eligibility Rules, REFEREES and Inspectors are the ultimate authority on rules. If you have
concerns about enforcement trends by volunteer authorities, please notify FIRST at
firstroboticscompetition@firstinspires.org.
Technical questions, e.g. an inquiry about how to check the image version on the roboRIO should be
posted to the FIRST Robotics Competition section of the FIRST Forums (any technical questions
submitted to the Q&A will be redirected there).
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2 FIRST STEAMWORKS S M Overview
FIRST STEAMWORKSSM, the 2017 FIRST Robotics Competition game, invites two adventurers clubs,
in an era where steam power reigns, to prepare their airships for a long distance race.
1. Build steam pressure. Robots collect fuel (balls) and score it in their boiler via high and
low efficiency goals. Boilers turn fuel into steam pressure which is stored in the steam tank
on their airship but it takes more fuel in the low efficiency goal to build steam than the
high efficiency goal.
2. Start rotors. Robots deliver gears to pilots on their airship for installation. Once the gear
train is complete, they turn the crank to start the rotor.
3. Prepare for flight. Robots must latch on to their airship before launch (the end of the
match) by ascending their ropes to signal that theyre ready for takeoff.
Figure 2-1: FIRST STEAMWORKS playing area
Each match begins with a 15-second autonomous period in which robots operate only on pre-
programmed instructions. During this period, robots work to support the three efforts listed above and
also get points for crossing their baseline.
Table 2-1: Auto Point Values
Action Value
Cross the baseline 5 match points
1 fuel in high efficiency goal 1 match point, 1 kPa
3 fuel in low efficiency goal 1 match point, 1 kPa
Rotor turning 60 match points
During the remaining 2 minutes and 15 seconds of the match, the teleoperated period, student drivers
control robots. Teams on an alliance work together to build as much pressure and start as many rotors as
possible but they have to be sure they leave enough time to latch on to their airship before the end of
the match. Points for these efforts are awarded as shown in Table 2-2.
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Table 2-2: Teleop Point Values
Action Value
3 fuel in high efficiency goal 1 match point, 1 kPa
9 fuel in low efficiency goal 1 match point, 1 kPa
Rotor turning 40 match points
Ready for takeoff 50 match points
Alliances are seeded in the Qualification tournament using ranking points which are awarded based on a
combination of their Win-Loss-Tie record (2 points for a win, 1 point for a tie), the number of times they
reach a 40 kiloPascal (kPa) pressure threshold (1 point), and the number of times they start all rotors (1
point).
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3 ARENA
The ARENA includes all elements and areas of the game infrastructure that are required to play FIRST
STEAMWORKSSM: the FIELD, AIRSHIPS, carpet, scoring elements, and all equipment and areas needed
for FIELD control, ROBOT control, and scorekeeping.
Figure 3-1: FIRST STEAMWORKS playing area
The competition ARENA is modular and assembled, used, disassembled, and shipped many times during
the competition season. It will undergo wear and tear. The ARENA is designed to withstand rigorous play
and frequent shipping. Every effort is made to ensure that ARENAS are consistent from event to event.
However, ARENAS are assembled in different venues by different event staff and some small variations
occur. For details regarding assembly tolerances, please refer to the 2017 FRC Field Assembly Drawing.
Successful Teams will design ROBOTS that are insensitive to these variations.
Illustrations included in this section are for a general visual understanding of the FIRST STEAMWORKS
ARENA, and dimensions included in the manual are nominal. Please refer to the official drawings for
exact dimensions, tolerances, and construction details. The official drawings, CAD models, and drawings
for low-cost versions of important elements of the FIRST STEAMWORKS FIELD are posted in the
Playing Field Details section of the FIRST STEAMWORKS Game & Season Materials web page.
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3.1 Zones and Markings
There are several areas on the FIELD relevant to game play and rules. Such spaces are described
below. All lines are marked using 2-in. (nominal) gaffers tape.
Figure 3-2: Zones and Markings
ALLIANCE STATION: an 8 ft. 9 in. (~269 cm) by 23 ft. 1 in. (~705 cm) infinitely tall
volume bounded by the ALLIANCE WALL and ALLIANCE colored tape. The volume above
the tape is part of the ALLIANCE STATION.
BASE LINE: a green line that spans the width of the FIELD and is 7 ft. 9 in. (~237 cm) from
the ALLIANCE WALL diamond plate.
KEY: an infinitely tall volume in the ALLIANCES LAUNCHPAD bounded by the ALLIANCE
WALL, GUARDRAIL, and ALLIANCE colored tape. The KEY includes the volume above the
tape. The far edge of the tape is parallel to and 4 ft. 4 in. (~132 cm) from the front face of the
BOILER.
Figure 3-3: KEY
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LAUNCHPAD: an infinitely tall volume in the FIELD bounded by the GUARDRAILS, the
ALLIANCE WALL, and the LAUNCHPAD LINE. The volume above the LAUNCHPAD LINE is
part of the LAUNCHPAD.
LAUNCHPAD LINE: a tape line that is the width of the FIELD and collinear with the edge of
the AIRSHIP deck that is closest to the center of the FIELD.
LOADING LANE: an area bounded by and including ALLIANCE colored tape, edge of the
carpet, the RETURN BIN Table, and the opponents ALLIANCE WALL.
NEUTRAL ZONE: an infinitely tall volume on the FIELD bounded by the GUARDRAILS and
the LAUNCHPAD LINES. The volume above the LAUNCHPAD LINES is not part of the
NEUTRAL ZONE.
RETRIEVAL ZONE: an infinitely tall volume inside the FIELD bounded by the ALLIANCE
WALL, GUARDRAIL and ALLIANCE colored tape. The RETRIEVAL ZONE includes the
volume above the tape. The far edge of the tape is parallel to and 3 ft. 6 in. (~107 cm) from
the front face of the LOADING STATION.
Figure 3-4: RETRIEVAL ZONE
STARTING LINE: a white tape line that runs the width of the carpet and is 2 ft. 6 in. (~76 cm)
behind the ALLIANCE WALL diamond plate.
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3.2 FIELD
The FIELD for FIRST STEAMWORKS is a 27 ft. by 54 ft. 4 in. (~823 cm by ~1656 cm) area, bounded by
and including the upward- and inward-facing surfaces of the GUARDRAILS and ALLIANCE WALLS. The
carpet used for the FIELD is green (Shaw Floors, Philadelphia Commercial, Neyland II 20, 30352,
Scotch Pine).
Figure 3-5: FIRST STEAMWORKS playing area
There are two versions of GUARDRAILS and PLAYER STATIONS (i.e. the FIELD perimeter) used for
competitions. One design has been used at FIRST Robotics Competition events for several years and is
depicted in the 2017 Basic Field Drawings and FIRST provided CAD models. The other is designed and
sold by AndyMark. While the designs are slightly different, the critical dimensions, performance, and
expected user experience between the two is the same. All Regional and Championship assemblies will
use the traditional FIRST design (except for Shenzhen Regional and all FIRST Championship practice
fields). Teams may contact their local District leadership for details on which assembly is used by their
District. Detailed drawings for the AndyMark design are posted on the AndyMark website. All illustrations
in this document depict the traditional FIELD design.
3.3 GUARDRAIL
The GUARDRAIL is a system that consists of transparent polycarbonate supported on the top and bottom
by aluminum extrusion. The GUARDRAIL prevents ROBOTS from inadvertently exiting the FIELD during
a MATCH.
There are four (4) gates in the GUARDRAIL that allow access to the FIELD for placement and removal of
ROBOTS. The gates are 3 ft. 2 in. (~97 cm) wide and closed and shielded during the MATCH.
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Figure 3-6: Gate locations
3.4 AIRSHIP
The AIRSHIP is a structure that features an elevated hexagonal deck, slanted walls, rails with AXLES to
mount GEARS, four (4) ROTORS, three (3) LIFTS, a STEAM TANK, and three (3) ROPES attached to
DAVITS. There is one AIRSHIP at the edge of each LAUNCHPAD. The AIRSHIP is positioned such that
the three (3) LIFTS face the ALLIANCE wall. The maximum capacity of the AIRSHIP is two (2) people.
Figure 3-7: AIRSHIP elements
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The hexagonal deck is 5 ft. 10 in. (~179 cm) wide and 3 ft. in. (~93 cm) above the FIELD carpet. The
rail forms an 8 ft. 5 in. (~257 cm) wide hexagon that is 3 ft. 6 in. (~108 cm) above the deck.
Polycarbonate walls connect the deck and rail and angle out from the deck at a 75 deg. angle. PORTS,
13 in. (~33 cm) wide by 19 in. (~50 cm) holes next to each LIFT, are cut in the three walls facing the
ALLIANCE WALL.
Figure 3-8: PORT
The deck is accessed by a step ladder. The step ladder is 1 ft. 10 in. (~56 cm) wide. Before MATCH play,
it is rotated upward and latched to the rail.
3.4.1 ROTORS
A ROTOR is one of four (4) rotating airfoils mounted to each AIRSHIP. There is one (1) central ROTOR
(modeled after the Da Vinci Aerial Screw) that protrudes from the center of the STEAM TANK. It starts 8
ft. 5 in. (~257 cm) above the deck. Three (3) smaller ROTORS are mounted to the rail, 8 ft. in. (~246
cm) above the deck, and evenly spaced around the rail.
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Figure 3-10: ROTOR heights
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3.4.2 GEAR Sets
Figure 3-11: GEAR placement
A GEAR set is a series of meshed GEARS that correspond to a specific ROTOR. GEAR sets are installed
on AXLES mounted to the rail. An AXLE is a -in. diameter (~2 cm), 2-in. (~5 cm) long shaft which fits
the central hub of a GEAR. The number of AXLES for each GEAR set depends on the ROTOR. Some
AXLES are prepopulated with GEARS and indicated in Table 3-1. The number of pre-populated GEARS
may change for District Championships or the FIRST Championship.
Table 3-1: GEAR set population.
One GEAR, the Reserve GEAR, is staged on the AIRSHIP at the start of the MATCH at the base of the
STEAM TANK, as shown in Figure 3-12.
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Figure 3-12: Reserve GEAR location
Once a ROTOR is started, it remains turning for the duration of the MATCH. ROTORS only start in order:
1, 2, 3, and then 4. The order of GEAR placement within a GEAR set is not important. To start ROTOR 1,
the PILOT places the GEAR in the GEAR slot at the top of the STEAM TANK, opposite the stack light for
ROTOR 1.
Figure 3-13: GEAR placement to start ROTOR 1
When a GEAR set for ROTORS 2, 3, or 4 is complete, a CRANK, a handle located with the first GEAR in
the set, can be turned which engages the corresponding ROTOR. It takes three (3) full rotations to
engage the ROTOR. If a GEAR set corresponding to the next sequential unengaged ROTOR remains idle
for more than ten (10) seconds, the rotation count resets to zero (0).
A yellow stack light is installed next to ROTORS 1 and 2 and illuminates if its corresponding ROTOR is
engaged during AUTO.
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Figure 3-14: AUTO stack light indicators
3.5 LIFTS
LIFTS are used to transfer GEARS from the ROBOTS to the PILOTS. One (1) LIFT is mounted to each of
the three (3) sides of the deck that face the PLAYER STATIONS. Each LIFT consists of a peg, steel
guide frame, carriage assembly, and cable. The cable is pulled by the PILOT to raise the carriage to a
PORT where the GEAR can be safely accessed. Each carriage has a peg designed to hold the GEAR
during the transition. The peg is 1 ft. 1 in. (~33 cm) from the FIELD carpet when the carriage is all the
way down, protrudes 10 in. (~27 cm) from the carriage and is 1 in. (~3 cm) wide. It is constructed from
-in. (nominal) diameter extension spring (McMaster P/N: 9664K68). A PVC ring, centered on and
mounted to the lower rung of the AIRSHIP rail as show in Figure 3-15, loosely holds the pull cord and
prevents the LIFT handle from falling out the PORT.
Figure 3-15: Reserve GEAR location
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Figure 3-16: LIFT geometry
The center LIFT is flanked by two -in. (nominal) thick HDPE barriers that radiate out from the adjacent
AIRSHIP corners. Barriers are 6 in. (~16 cm) tall and extend 2 ft. in. (~63 cm) out from the leg of the
AIRSHIP.
Figure 3-17: Barrier geometry
Three windows in the STEAM TANK contain Philips Color Kinetics LED Light Strips used to indicate the
amount of steam pressure generated by the BOILER and transmitted to the AIRSHIP. Each window
displays the same information. Each row of two (2) LEDs changes, from off to on in white, then from on in
white to on in the ALLIANCE color, for each ten (10) kPa of pressure generated. For example, if an
ALLIANCE generates ten (10) kPa of pressure, the bottom row is white. If the Red ALLIANCE has
generated 20 (twenty) kPa, the bottom LEDs are Red. If the Blue ALLIANCE generates thirty (30) kPa,
the bottom row is blue and the second row is white.
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Figure 3-18: STEAM TANK geometry
3.7 DAVIT
A DAVIT is one of three steel frames that attaches a ROPE to the AIRSHIP. Each DAVIT extends 11 in.
(~28 cm) from the railing of the AIRSHIP. Each DAVIT has a 2-in. (~5 cm) wide by 2-in. (~5 cm) deep
vertical steel channel used to cradle the ROPE and to mount the TOUCHPAD. There are two (2) steel
fingers at the top of each DAVIT used to secure the ROPE. These fingers are 1 in. (~3 cm) apart and
have a hole for a wire locking retaining pin (McMaster P/N: 98416A009 or similar). The ROPE passes
through the fingers with the top knot on the AIRSHIP side of the fingers.
Figure 3-19: DAVIT location and geometry
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3.8 ROPE
A ROPE is a strong, thick string composed of twisted or braided strands of manila, hemp, flax, or the like,
secured to the AIRSHIP, and used to secure ROBOTS for flight at the end of the MATCH. As described in
Section 4.2 Match Setup, Teams are invited to bring and install their own ROPE. If they dont, they can
expect default FIELD ROPES installed. These default ROPES are three (3), 1 in. (nominal) thick by 7 ft. 2
in. (~218 cm) long polypropylene Manila style ROPES from Knot and Rope Supply, SKU 0162. Each
default ROPE is knotted at the top, such that theres at least 7 ft. 2 in. (~218 cm) below the knot (see
Figure 3-19), fused at the bottom, suspended from a notch at the end of each DAVIT, and stowed using
the ROPE retention strap and loop pad (as described in GE-17025) on the outside of the AIRSHIP. The
ROPE passes through the center of the TOUCHPAD and hangs down to the FIELD carpet. The PILOT
pulls the ROPES retention strap to deploy the ROPE.
Figure 3-20: FIELD ROPE Anatomy
3.9 TOUCHPAD
Each TOUCHPAD is a 10 in. (~25 cm) polycarbonate plate mounted 4 ft. 10 in. (~147 cm) above the
carpet and used to determine if a ROBOT has successfully latched on to the AIRSHIP (i.e. ready for
takeoff) at the end of the MATCH. The plate has a 3 in. (~8 cm) wide by 6 in. (~15 cm) deep rectangular
cut-out to aid in assembly and ROPE mounting.
Figure 3-21: TOUCHPAD geometry
The TOUCHPAD plate must be pressed such that the following conditions are met for the ROBOT to be
credited with being ready for takeoff at the end of the MATCH:
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B. its pressed for a duration of at least one (1) sec, and
C. its pressed when the Teleop Period ends at T = 0
The force required to activate the TOUCHPAD (i.e. push the TOUCHPAD plate up by approximately in.
(~1.3 cm), causing activation of one or more of its microswitches) is no more than 1 lb. (~ kg).
The force required to move the TOUCHPAD throughout its full range of travel (i.e. cause the TOUCHPAD
plate to travel the full 1 in. (~4 cm)) is no more than 2 lbs. (~1 kg).
While a force less than 75 lbs (~34 kg) applied to the TOUCHPAD plate once its fully pressed is not likely
to damage the TOUCHPAD, be aware that any damage, even if a result of less than 75 lbs of force, is a
violation of G15.
Figure 3-22 shows the two extreme states of the TOUCHPAD plate. The image on the left shows the
TOUCHPAD unactuated and the figure on the right shows one example of an actuated TOUCHPAD (with
the plate pressed all the way up). The DAVITS steel channel does not move with the TOUCHPAD plate.
Figure 3-22 Unactuated TOUCHPAD (left) and fully displaced TOUCHPAD plate (right)
Figure 3-23 shows examples where the TOUCHPAD has been sufficiently displaced, but timing varies.
Activations in red indicate that the requirements were not met, and the ROBOT was not credited with
ready for takeoff points defined in Table 4-1. Activations in green meet all criteria and credit the
ALLIANCE with associated points.
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Figure 3-23: TOUCHPAD activation examples.
A plastic dome is mounted above each TOUCHPAD and indicates if the associated ROBOT is ready for
takeoff. When thirty (30) seconds remain in TELEOP, all six (6) domes briefly animate to indicate that
they are active. If a TOUCHPAD is pressed by a ROBOT prior to this, the dome remains off. If a
TOUCHPAD is pressed during the final thirty (30) seconds of the MATCH and for the minimal duration
described in part B above, the dome illuminates in the ALLIANCES color and the associated points are
added to the real-time score. If a ROBOT causes a dome to illuminate, but disengages from the
TOUCHPAD, the dome turns off and the associated points are removed from the real-time score.
3.10 HOPPERS
A HOPPER is a pair of containers located just outside the FIELD and used to store FUEL at the start of
the MATCH. There are five (5) HOPPERS located alongside and outside the GUARDRAIL. Two (2) are
positioned on the scoring table side of the FIELD and are each 13 ft. 9 in. (~420 cm) from the
ALLIANCE WALLS. Two (2) are positioned opposite the scoring table side of the FIELD and are each 6
ft. 6 in. (~199 cm) from the ALLIANCE WALLS. The fifth HOPPER is positioned opposite the scoring
table side of the FIELD and centered on the GUARDRAIL.
Figure 3-25: HOPPER locations
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Each HOPPER container is an aluminum framed polycarbonate box that is 2 ft. 2 in. (~67 cm) wide by 1
ft. 11 in. (~59 cm) deep by 3 ft. 10 in. (~117 cm) high. There is an opening that faces the FIELD at the
top of each HOPPER container. Once a polycarbonate panel is pushed, the floor of the box pivots down,
causing FUEL to roll onto the FIELD. When depositing FUEL onto the FIELD, the floor of the HOPPER is
2 ft. in. (~63 cm) from the carpet. The polycarbonate panel is 1 ft. 3 in. (~38 cm) high, 1 ft. 10 in. (~56
cm) long and 2 in. (~5 cm) above the FIELD carpet, and requires approximately 25 lbs. (~11 kg) applied 6
in. from the carpet over 1 in. (~4 cm) toward the HOPPER (until flush with the guardrail) to fully engage.
Figure 3-26: HOPPER geometry
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3.11 ALLIANCE WALL
The ALLIANCE WALL is the physical structure that separates ROBOTS from DRIVE TEAMS (except the
PILOT) and consists of a BOILER, three (3) PLAYER STATIONS, an Overflow LOADING STATION and
a Return LOADING STATION.
Figure 3-27: ALLIANCE WALL COMPONENTS
Each PLAYER STATION supports one (1) BANNER Holder. The BANNER Holder features a receptacle
designed to hold a -in. (nominal) diameter rod and is mounted above the team sign and behind the
STEAM PIPE.
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Figure 3-28: BANNER holder
Each PLAYER STATION contains the following electronic components for Teams:
One Ethernet Cable: attaches to the Ethernet port of the OPERATOR CONSOLE and
provides connectivity to the ARENA network.
One 120VAC NEMA 5-15R power outlet: located on the right side of each PLAYER STATION
shelf and protected by its own 2-Amp circuit breaker. It can be used to power the
OPERATOR CONSOLE. DRIVE TEAMS are responsible for monitoring their power
consumption as a tripped breaker in the outlet does not constitute an ARENA fault.
Note: The power outlet circuit breaker has been reduced from a 3A
breaker to a 2A breaker (used in 2015 and 2016).
One Emergency Stop (E-Stop) button: located on the left side of the PLAYER STATION shelf
and should be used to deactivate a ROBOT in an emergency.
One Team sign: displays the Team number and located at the top of each PLAYER
STATION.
One Team LED: indicates ALLIANCE color, ROBOT status, and E-Stop status and centered
at the top of each PLAYER STATION. Team LED states include:
Solid: indicates that the ROBOT is connected and enabled. This will only happen during a
MATCH.
Blinking: indicates that either the Field Management System (FMS) is preset for the MATCH
or its during a MATCH and the corresponding ROBOT has lost connectivity.
Off: indicates that the MATCH has not started yet, but the ROBOT is linked and disabled.
If the amber LED is on, the E-stop button has been pressed.
One Timer: displays the official time remaining in AUTO, TELEOP, and TIMEOUTS and
marked with white tape along the bottom edge. A Timer is positioned at the top of each
Return LOADING STATION.
Competition ARENA hardware and wiring: mostly located below the center PLAYER
STATION shelf.
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3.11.2 Overflow LOADING STATION
An Overflow LOADING STATION is located two (2) PLAYER STATIONS away from each BOILER.
Figure 3-29: Overflow LOADING STATION
An Overflow LOADING STATION is used to feed FUEL from the OVERFLOW BIN on to the FIELD. Each
Overflow LOADING STATION includes a 6 ft. 6 in. (~198 cm) in. tall and 2 ft. 6 in. (~76 cm) wide
polycarbonate panel with an opening, aluminum frame, and shelf with backboard. The opening is 2 in.
(~6 cm) from each edge of the loading station, 2 ft. 1 in. (~64 cm) wide, 7 in. tall (~19 cm), and 2 ft. 1 in.
(~64 cm) above the carpet.
The Overflow LOADING STATION shelf is 2 ft. (~61 cm) wide, 3 ft. (~91 cm) long, and mounted at a 72
deg. angle. The top of the shelf is 3 ft. 7 in. (~110 cm) from the carpet.
Figure 3-30: Overflow LOADING STATION geometry
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3.11.3 Return LOADING STATIONS
Return LOADING STATIONS are located in each of the two (2) corners of the FIELD opposite the
BOILERS.
Figure 3-31: Return LOADING STATIONS
A Return LOADING STATION is used to feed FUEL and GEARS on to the FIELD. Each Return
LOADING STATION includes a 6 ft. 6 in. (~198 cm) in. tall and 6 ft. 3 in. (~192 cm) wide polycarbonate
panel with two (2) openings, aluminum frame, and shelves with backboards. The openings are side by
side, 1 in. (~3 cm) from each edge of the loading station, 2 ft. (~61 cm) wide, 7 in. tall (~19 cm), and 2
ft. 1 in. (~64 cm) above the carpet.
There are two (2) shelves, 2 ft. (~61 cm) wide by 3 ft. (~91 cm) long, mounted at a 72 deg. angle. The
tops of the shelves are 3 ft. 7 in. (~110 cm) from the carpet. Each shelf has a slot through which to pass
GEARS.
Figure 3-32: Return LOADING STATION geometry
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3.11.4 BOILER
A BOILER is a FIELD element which converts FUEL to steam. There is a BOILER on each corner of the
FIELD opposite the scoring table. The base of each BOILER is 3 ft. 6 in. wide (~107 cm) by 3 ft. 6 in.
(~107 cm) deep by 8 ft. 1 in. (~246 cm) tall. There are two (2) openings, or GOALS, for loading FUEL into
the BOILER: the High Efficiency GOAL and the Low Efficiency GOAL.
The High Efficiency GOAL is a 1 ft. 9 in. (~55 cm) diameter vertical cylinder. The opening is 8 ft. 1in.
(~246 cm) from the carpet. The horizontal offset between the face of the BOILER and the center of the
High Efficiency Goal opening is 1 ft. 5 in. (~44 cm).
The High Efficiency GOAL geometry can be simulated using six (6) 2015
Recycle Rush totes and one (1) 2015 Recycle Rush recycling
container.
The Low Efficiency GOAL is 2 ft. 1 in. (~64 cm) wide by 8 in. (~22 cm) tall. The bottom edge of the
GOAL is 1 ft. 6 in. (46 cm) above the carpet.
A series of nets is installed behind the BOILER which redirects missed shots back in to the FIELD. The
net is approximately 4 ft.10 in. (147 cm) wide by 9 ft. 11 in. (302 cm) tall and is set 4 ft. 6 in. (139 cm)
behind the GOAL opening. Nets are used to retain GAME PIECES in the FIELD and not intended to
behave consistently.
Figure 3-33: BOILER geometry
The capacity of the Low Efficiency GOAL is seventy (70) FUEL. The capacity of the High Efficiency GOAL
is one-hundred and fifty (150) FUEL. FUEL that exceeds GOAL capacities will fall back on to the FIELD.
A BOILER processes FUEL in to steam at an average rate of five (5) FUEL per second per GOAL, but
actual rate is dependent on the amount and packing of FUEL in the GOALS (i.e. the tighter the packing in
a GOAL, the faster the FUEL processing rate).
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3.11.5 RETURN & OVERFLOW BINS
RETURN and OVERFLOW BINS are used to store and transport FUEL that has exited a BOILER. They
are plastic open-topped containers, 2 ft. 9 in. (~85 cm) wide by 1 ft. 6 in. (~46 cm) deep by 1 ft. 1 in.
(~33 cm) tall, and each has a capacity of approximately fifty to sixty (50-60) FUEL.
Once FUEL is processed, it exits the BOILER into a RETURN BIN. Each LOADING LANE has three (3)
RETURN BINS. To prevent a RETURN BIN from overflowing, HUMAN PLAYERS may replace it with an
empty RETURN BIN.
Should a RETURN BIN overflow, the FUEL collects in either of the (2) OVERFLOW BINS.
Figure 3-34: RETURN and OVERFLOW BINS
The pipe contains strips of Philips Color Kinetics Lights which display the transfer of steam. A pattern of
colored LEDs flow from the BOILER to the AIRSHIP as FUEL is scored by the BOILER. As the rate of
FUEL being scored inside the BOILER increases, the animation become faster. If the scoring rate
decreases, the animation slows down. If an ALLIANCE stops scoring FUEL in their BOILER, the lights will
come to a stop at their current position, indicating that FUEL is not being scored.
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Figure 3-35: STEAM PIPE
3.12.2 GEARS
A GEAR is a toothed wheel used to start ROTORS on the AIRSHIP. Each GEAR is made from gold
(Pantone PMC 124C) polypropylene, has 10 teeth, an 11 in. (~28 cm) diameter, 10 in. (~25 cm) pitch
diameter, and is 2 in. (~5 cm) thick. Each GEAR weighs 18.4 oz. (~0.5 kg.) GEARS may be purchased
from AndyMark (am-3302).
Figure 3-37: GEAR
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3.13 Vision Targets
Vision targets are marked using 3M 8830 Scotchlite Reflective Material and highlight the locations of High
GOALS and LIFT pegs.
The vision target on the High GOAL consists of two horizontal rings. The first ring is 4 in. (~10 cm) wide,
with the upper edge located 7 ft. 4 in. (~224 cm) from the carpet. The second ring is 2 in. (~5 cm) wide
with the upper edge 6 ft. 8 in. (~203 cm) off the carpet.
Figure 3-38: BOILER vision target measurements
There are also vision targets on both sides of each LIFT peg. The peg targets are 2 in. (~5 cm) wide by 5
in. (~13 cm) tall rectangles located 10 in. (~27 cm) from the carpet and spaced 10 in. (~26 cm) apart
(outside dimensions).
Figure 3-39: LIFT peg vision target dimensions
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to communicate with the Field Management System (FMS). Once connected to FMS, the only open ports
available are described in Table 3-2.
Table 3-2: Open FMS Ports
Teams may use these ports as they wish if they do not employ them as outlined above (e.g. TCP 1180
can be used to pass data back and forth between the ROBOT and the Driver Station software if the Team
chooses not to use the camera on USB). Note that ROBOT code cannot be deployed while connected to
the FMS. Additional information about the FMS may be found in the FMS Whitepaper.
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4 MATCH Play
During each FIRST STEAMWORKSSM MATCH, two ALLIANCES (an ALLIANCE is a cooperative of up
to four (4) FIRST Robotics Competition Teams) rush to best prepare their AIRSHIPS for a long distance
race. Well prepared AIRSHIPS have as much steam pressure stored in the STEAM TANK and as many
ROTORS on the AIRSHIP activated as possible.
STEAM Pressure: ROBOTS collect FUEL and use the FUEL to stoke their BOILERS and
make STEAM Pressure (as measured in kilopascals, kPa). Each ALLIANCE has one High
Efficiency BOILER and one Low Efficiency BOILER. As FUEL is loaded in to BOILERS,
pressure is built at rates defined in Table 4-1, and added to the ALLIANCES score.
ROTORS: ROBOTS collect GEARS from their HUMAN PLAYER stationed on the opposite
end of the FIELD. ROBOTS then deliver GEARS to PILOTS on their AIRSHIP, who then
install them. GEARS installed properly complete the GEAR sets used to drive ROTORS on
the AIRSHIP. ALLIANCES earn extra points for any ROTOR started during AUTO.
Bonus points are awarded for ROBOTS that signify that theyre ready for takeoff by latching on to their
AIRSHIP via the ROPES.
4.1 Periods
Each MATCH is divided in to two periods. The first period, called AUTO, is the first fifteen (15) seconds of
a MATCH in which ROBOTS operate without any DRIVE TEAM control or input. During this period,
ROBOTS attempt to deliver preloaded GAME PIECES (and PILOTS race to install delivered GEARS),
retrieve additional GAME PIECES, and cross their BASE LINE before the start of the next period.
TELEOP is the second period in a MATCH and is two minutes and fifteen seconds (2:15) long. During
this period, DRIVERS may operate ROBOTS remotely to retrieve and deliver GAME PIECES, defend
against their opponents, and climb their ROPES to prepare for the impending departure of their AIRSHIP
after the MATCH.
Each MATCH begins with GAME PIECES, elements used to score points, staged as shown in Figure 4-1.
Staging details are as follows:
FUEL
A. Ten (10) available for each TEAM to preload in their ROBOT (any not preloaded are
staged in the bin referenced in the next bullet, B)
B. Twenty (20) in each LOADING LANE (in a bin staged between the LOADING
STATION and the STARTING LINE)
C. One hundred (100) plus or minus four (4) in each HOPPER (i.e. fifty (50) plus or
minus two (2) in each HOPPER container)
D. One (1) available to each team to preload in their ROBOT (any not preloaded are
staged with GEARS in E)
E. Eighteen (18) in each LOADING LANE (staged on the carpet between the LOADING
STATION and the STARTING LINE)
F. One (1) in each AIRSHIP (as described in Section 3.4.2)
Figure 4-1: GAME PIECE staging
When a DRIVE TEAM loads their ROBOT onto the FIELD for a MATCH they may elect to:
A. pre-load one (1) GEAR in or on their ROBOT such that it is fully and only supported
by the ROBOT. Any GEARS not preloaded in a ROBOT are transferred to their
LOADING LANE.
and
B. pre-load up to ten (10) FUEL in or on their ROBOT such that they are fully and only
supported by the ROBOT. Any FUEL not preloaded in a ROBOT is transferred to a
RETURN BIN in their LOADING LANE.
A DRIVE TEAM may elect to switch one of the ROPES on their AIRSHIP for their own ROPE that meets
the criteria defined in I04 of Section 9 Inspection & Eligibility Rules and has a serialized Inspection tag.
Once the DRIVE TEAM has installed their ROPE on the AIRSHIP, it is part of the FIELD, but any issues
with it will not result in an ARENA FAULT.
If order placement of ROBOTS or ROPES matters to either or both ALLIANCES, the ALLIANCE must
notify the Head REFEREE during setup for that MATCH. Upon notification, the Head REFEREE will
require ALLIANCES alternate placement of all ROBOTS and then all ROPES, starting with the Red
4.3 Scoring
ALLIANCES are rewarded for accomplishing various actions including autonomous movement, pressure
accumulation, ROTOR engagement, getting a ROBOT ready for takeoff, and winning and tying
MATCHES. Rewards are granted either via MATCH points (which contribute to the ALLIANCES MATCH
score) or Ranking Points (which increases the measure used to rank teams in the Qualification
tournament). Such actions, their criteria for completion, and their point values are listed in Table 4-1.
Scores are assessed and updated throughout the MATCH.
Fractions of kilopascals accumulate as an ALLIANCE stokes the BOILER with FUEL in the High and Low
Efficiency GOALS. For example, during TELEOP, an ALLIANCE scores twelve (12) FUEL in the Low
Efficiency GOAL and five (5) FUEL in the High Efficiency GOAL. As a result, the ALLIANCE has
generated three (3) kPa of pressure (= 12/9 + 5/3).
MATCH points increment as whole unit kilopascals are achieved. For example, during TELEOP, an
ALLIANCE scores fourteen (14) FUEL in the Low Efficiency GOAL and five (5) FUEL in the High
Efficiency GOAL. As a result, they have generated 32/9 kPa of pressure (= 14/9 + 5/3), and their MATCH
points increment by three (3) points. They do not receive a fourth MATCH point unless and until they
score enough FUEL in the high and Low Efficiency GOAL to generate four (4) kPa of pressure.
Fractions of kilopascals generated in AUTO carry over and contribute to the TELEOP pressure. For
example, if an ALLIANCE scores seventeen (17) FUEL in the Low Efficiency GOAL in AUTO, the
ALLIANCE receives five (5) MATCH points and has generated 5 kPa of pressure. Once TELEOP
begins, the ALLIANCE scores another three (3) FUEL in the Low Efficiency GOAL. Their pressure is now
six (6) kPa and theyre awarded a sixth MATCH point.
Although the STEAM TANK lights as described in Section 3.6 STEAM TANK have an upper limit to the
amount of Pressure they can display, there is no limit on the Pressure an ALLIANCE can accumulate.
Action Penalty
FOUL 5 points credited towards the opponents total score.
In addition to rule violations explicitly listed in this manual and witnessed by a REFEREE, the Head
REFEREE may assign a YELLOW or RED CARD as a result of egregious ROBOT actions or Team
member behavior at the event. Please see Section 10.7 YELLOW and RED CARDS for additional detail.
Max./
Role Description Criteria
DRIVE TEAM
responsible for acting as Pre-college student or adult mentor
COACH 1
a guide or advisor Must wear Coach button
responsible for operating
DRIVER and controlling the 4
ROBOT
HUMAN responsible for managing Pre-college student
4
PLAYER GAME PIECES Must wear one (1) of the four (4) Drive
responsible for installing Team buttons
GEARS, starting
PILOT 1
ROTORS, and deploying
ROPES
There may be up to two (2) PILOTS per ALLIANCE per MATCH. During Qualification MATCHES, PILOTS
may come from the DRIVE TEAMS assigned to Stations 1 and 2. A Team is permitted to cede their
PILOT position to a PILOT from the DRIVE TEAM assigned to Station 3. During Playoff MATCHES, the
ALLIANCE CAPTAIN has the authority on which two separate teams provide the ALLIANCES PILOTS.
4.6 Logistics
Any GAME PIECES that leave the FIELD will not be returned to MATCH play. GAME PIECES that
inadvertently bounce back in to the FIELD will be considered fair game.
Note that ROBOTS may not deliberately cause GAME PIECES to leave
the FIELD (see G22).
GAME PIECES that roll, slide, or otherwise transfer from a LOADING LANE to an ALLIANCE STATION
(or vice versa) are considered owned by the ALLIANCE in the space now occupied by the GAME
PIECE.
There will not be an ARENA FAULT called for MATCHES that accidentally begin with an incorrect number
of GAME PIECES, damaged GAME PIECES, or experience the failure of a Team provided ROPE.
Once the MATCH is over, if the Head REFEREE determines that the FIELD is safe for FIELD Staff but
not safe for everyone (e.g. the FIELD is littered with FUEL that may cause a tripping hazard for a DRIVE
TEAM carrying a ROBOT), they will turn the LED strings purple. Once the FIELD is ready for regular
traffic, the Head REFEREE will change the LED strings to green and DRIVE TEAMS may retrieve their
ROBOT in accordance with S04.
Event staff have the final decision authority for all safety-related issues within a venue.
S01. Safety glasses: required. All event attendees must wear ANSI-approved, UL Listed, CE EN166
rated, AS/NZS, or CSA rated non-shaded safety glasses while in the ARENA. Lightly tinted
lenses are permitted provided eyes are clearly visible to others, but reflective lenses are
prohibited.
Violation: Attendee must immediately remedy or leave the ARENA.
S02. Closed-toed shoes: required. All event attendees must wear closed-toed shoes while in the
ARENA.
Violation: Attendee must immediately remedy or leave the ARENA.
S03. Dangerous ROBOTS: not allowed. ROBOTS whose operation or design is dangerous or unsafe
are not permitted.
C02. Asking other Teams to throw a MATCH not cool. A Team may not encourage an ALLIANCE,
of which it is not a member, to play beneath its ability.
NOTE: This rule is not intended to prevent an ALLIANCE from planning and/or executing its own
strategy in a specific MATCH in which all the Teams are members of the ALLIANCE.
Violation: Behavior will be discussed with Team or individual. Violations of this rule are likely to
escalate rapidly to YELLOW or RED CARDS, and may lead to dismissal from the event (i.e. the
threshold for egregious or repeated violations is relatively low.)
C03. Letting someone coerce you in to throwing a MATCH also not cool. A Team, as the result
of encouragement by a Team not on their ALLIANCE, may not play beneath its ability.
NOTE: This rule is not intended to prevent an ALLIANCE from planning and/ or executing its own
strategy in a specific MATCH in which all the ALLIANCE members are participants.
Violation: Behavior will be discussed with Team or individual. V iolations of this rule are likely to
escalate rapidly to YELLOW or RED CARDS, and may lead to dismissal from the event (i.e. the
threshold for egregious or repeated violations is relatively low.)
C04. Compete with only one (1) ROBOT. Each registered FIRST Robotics Competition team may
enter only one (1) ROBOT (or Robot, which to a reasonably astute observer, is a ROBOT built to
play FIRST STEAMWORKS) into the 2017 FIRST Robotics Competition.
This rule does not prohibit teams from bringing in robots from other
FIRST programs for the purposes of awards presentations or pit
displays.
Violation: Verbal warning. Repeated violations will be addressed by the H ead REFEREE, the Lead
ROBOT Inspector and/or Event Management.
C05. Dont set up wireless networks. Teams may not set up their own 802.11a/b/g/n/ac (2.4GHz or
5GHz) wireless communication (e.g. access points or ad-hoc networks) in the venue.
Violation: Verbal warning. Repeated violations will be addressed by the H ead REFEREE, the Lead
ROBOT Inspector and/or Event Management.
C06. Dont try to hack networks. No Team or Team member shall interfere or attempt to interfere
with any other Teams or FIRST wireless communication. Except as expressly allowed for
purposes of communicating with the Teams own ROBOT on the FIELD or a Practice FIELD, no
Team or Team member shall connect or attempt to connect to any other Teams or FIRSTs
wireless network.
Teams are encouraged to report suspected wireless security
vulnerabilities to the FIRST Technical Advisor (FTA) if at the event or to
FIRST via the Wireless Security Feedback Form.
Violation: Beh avior will be discussed with Team or individual. Violations of this rule are likely to
escalate rapidly to YELLOW or RED CARDS, and may lead to dismissal from the event (i.e. the
threshold for egregious or repeated violations is relatively low.) Legal acti on may also be pursued
based on applicable law.
C07. Show up to your MATCHES. Each Team must send at least one (1) member of its DRIVE
TEAM to the FIELD and participate in each of the Teams assigned Qualification and Playoff
C08. Dont expect to gain by doing others harm. Strategies aimed solely at forcing the opposing
ALLIANCE to violate a rule are not in the spirit of FIRST Robotics Competition and not allowed.
Rule violations forced in this manner will not result in an assignment of a penalty to the targeted
ALLIANCE.
Violation: FOUL. If egregious or repeated, YELLOW CARD.
C08 does not apply for strategies consistent with standard gameplay,
e.g. contacting an opponent while in your RETRIEVAL ZONE to retrieve
GAME PIECES.
C09. One student, one Head REFEREE. A Team may only send one (1) pre-college student from its
DRIVE TEAM to address the Head REFEREE.
Violation: The H ead REFEREE will not address additional, non -compliant Team members or
peripheral conversations.
C13. No work outside your pit. Throughout the event, from load-in to load-out, Teams may only
produce FABRICATED ITEMS in their pit area, other Teams pit areas with permission from that
Team, or as permitted at provided machine shops.
Violation: Verbal warning. Repeated or egregious violations will be addressed by the H ead
REFEREE, the Lead ROBOT Inspector and/or Event Management.
G01-1. Know your ROPE setup. If a Team is using their own ROPE, it must be stowed using the ROPE
retention strap and/or loop pad such that it is not deployed.
Violation: If fix is a quick remedy, the MATCH wont start until all requirements are met. If it is not
a quick remedy the FIELD STAFF will install a default ROPE.
G02. Be prompt/safe when coming to and going from the FIELD. DRIVE TEAMS may not cause
significant or repeated delays to the start of a MATCH and/or to the FIELD reset at the conclusion
of the MATCH.
Violation: If prior to the MATCH, the offending DRIVE TEAMS ROBOT will be DISABLED. If after
the MATCH, YELLOW CARD.
DRIVE TEAMS are expected to stage their ROBOTS for a MATCH, and
remove it from the FIELD afterwards, safely and swiftly. Examples
include, but are not limited to:
The two (2) distinct ROBOT volumes permitted are defined in R03 and
included below for reference:
As a result, a ROBOT that fits in one of the permitted volumes and has
climbed a ROPE such that its highest point is 4 ft. (~122 cm) from the
floor has not violated G04 as it is not considered 4 ft. (~122 cm) tall.
Violation: The opposing ROBOT is considered to have triggered an un -triggered TOUCHPAD at the
end of the MATCH.
G11. Theres a 5-count on pins. ROBOTS may not pin an opponents ROBOT for more than five (5)
seconds. A ROBOT will be considered pinned until the ROBOTS have separated by at least six
(6) feet. The pinning ROBOT(s) must then wait for at least three (3) seconds before attempting to
pin the same ROBOT again. Pinning is transitive through other objects. If the pinned ROBOT
chases the pinning ROBOT upon retreat, the pinning ROBOT will not be penalized, and the pin
will be considered complete.
Violation: If pinning ROBOT is not in the opponents KEY, FOUL, plus an additional FOUL for every
five (5) seconds in which the situation is not corrected. If pinning ROBOT is in the opponents
KEY, TECH FOUL, plus an additional TECH FOUL for every five (5) s econds in which the situation
is not corrected. In either scenario, if e xtended and egregious, RED CARD.
G12. If an opponents down, back off. Fallen (i.e. tipped over) ROBOTS attempting to right
themselves (either by themselves or with assistance from a partner ROBOT) have one ten (10)
second grace period in which they may not be contacted by an opponent ROBOT. This protection
lasts for either ten (10) seconds or until the protected ROBOT has completed the righting
operation, whichever comes first.
Violation: FOUL. If intentional, YELLOW CARD.
G13. Dont mess with a ROBOT in their RETRIEVAL ZONE. A ROBOT with any part inside its
opponents RETRIEVAL ZONE may not contact an opposing ROBOT, regardless of who initiates
the contact.
Violation: TECH FOUL.
G14. Dont climb on each other. Unless attempting to right a fallen (i.e. tipped over) ALLIANCE
partner, ROBOTS may neither fully nor partially support the weight of other ROBOTS strategically
or repeatedly.
Violation: RED CARD.
A ROBOT that has only unseated the TOUCHPAD dome has not
damaged the FIELD.
G16. Keep it together. ROBOTS may not intentionally detach or leave parts on the FIELD.
Violation: RED CARD
G17. Opponents KEY: a no parking zone. A ROBOT may not be in their opponents KEY for more
than five (5) seconds (if the ROBOT is breaking the plane of the line with BUMPERS, it is
considered in the KEY).
A ROBOT that is being pinned is exempt from G17. Once the pin is over, the G17 5-second count
begins.
Violation: FOUL. For every five (5) seconds in which the situation is not corrected, FOUL.
G18. One ROBOT per ROPE. No more than one (1) ROBOT may be fully supported by a ROPE.
Violation: RED CARD.
G19. Only climb on deployed ROPES. A ROBOT may only pull on a ROPE if/once the ROPE is
supported only by the DAVIT, the carpet, the ROBOT, or any combination thereof.
Violation: RED CARD.
G20. Let em climb: dont touch their ROPES. During the final thirty (30) seconds of a MATCH,
ROBOTS may not contact an opposing ALLIANCES ROPE.
Figure 7-3: Don't touch opponents' ROPES in the final thirty (30) seconds of the MATCH.
Violation: FOUL. If an opposing ROBOT contacts the offending ROBOT or the ROPE, the opposing
ROBOT is considered to have triggered an un -triggered TOUCHPAD at the end of the MATCH .
Violation: FOUL. Repeated or extended violations of this rule are likely to escalate rapidly to
YELLOW or RED CARDS.
G24. Dont throw GEARS at all. A ROBOT may not LAUNCH a GEAR.
Violation: YELLOW CARD.
G25. AIRSHIPS run on steam, not FUEL. ROBOTS may not intentionally put FUEL in an AIRSHIP.
Violation: YELLOW CARD.
G26. If youre going to deliver GEARS, you have to use a LIFT. Any GEAR transferred to a PILOT
during the MATCH must be done so via a LIFT.
Violation: TECH FOUL and a YELLOW CARD.
G27. One-GEAR limit. ROBOTS may not control more than one GEAR at a time.
Violation: FOUL. If strategic, TECH FOUL and YELLOW CARD.
G28. Dont use air to direct/redirect FUEL. ROBOTS may not use forced air to affect the movement
of FUEL that is outside the volume of the ROBOT.
A02. During AUTO, let the ROBOT do its thing. During AUTO, DRIVE TEAMS may not directly or
indirectly interact with ROBOTS or OPERATOR CONSOLES unless for personal safety,
OPERATOR CONSOLE safety, or pressing an E-Stop for ROBOT safety.
Violation: FOUL and YELLOW CARD.
A03. Disconnect or set down controllers. During AUTO, any control devices worn or held by the
DRIVERS and/or HUMAN PLAYERS must be disconnected from the OPERATOR CONSOLE.
Violation: FOUL.
A04. Stay out of your opponents LAUNCHPAD. During AUTO, no part of a ROBOTS BUMPERS
may enter their opponents LAUNCHPAD.
Violation: FOUL. If contact is made with an opponent ROBOT in their LAUNCHPAD (either direct
contact or transitive contact throu gh another object), TECH FOUL.
A05. PILOTS: dont take the free GEAR yet. During AUTO, PILOTS may not remove the reserve
GEAR from the starting position in which it begins the MATCH.
Violation: TECH FOUL.
H02. Wireless devices not allowed. During a MATCH, DRIVE TEAMS may not use electronic
devices which have the capability of receiving communications from persons outside of the
ARENA (e.g. cell phones or wearable technology).
Violation: YELLOW CARD.
Examples of violations of this rule include, but are not limited to,
tampering with the sensors, putting anything but a GEAR in the GEAR
slot for ROTOR 1, blocking FUEL from exiting the BOILER, or attempting
to feed FUEL backwards through a BOILER.
H04. By invitation only. Only DRIVE TEAMS for the current MATCH are allowed in their respective
ALLIANCE STATIONS, LOADING LANES, and AIRSHIPS.
Violation: MATCH will not start until the situation is corrected.
H05. Identify yourself. DRIVE TEAMS must wear proper identification while in the ARENA. Proper
identification consists of:
A. All DRIVE TEAM members wearing their designated buttons above the waist in a
clearly visible location at all times while in the ARENA.
The COACH wearing the "Coach" labeled drive team button
The DRIVERS and HUMAN PLAYERS each wearing a DRIVE TEAM button
B. During a Playoff MATCH, the ALLIANCE CAPTAIN clearly displaying the designated
ALLIANCE CAPTAIN identifier (e.g. hat or armband).
Violation: MATCH will not start until the situation is corrected. Those not displaying identification
must leave the ARENA.
H06. COACHES, no GAME PIECES. COACHES may not touch GEARS or FUEL unless for safety
purposes.
Violation: FOUL.
H07. No wandering. DRIVE TEAM members may not contact anything outside the zone in which they
started the MATCH (e.g. the AIRSHIP, LOADING LANE, or ALLIANCE STATION) during the
MATCH. Exceptions will be granted for inadvertent, momentary, and inconsequential infractions
and in cases concerning safety.
Violation: FOUL. If strategic, RED CARD.
H08. GAME PIECES through LOADING STATIONS only. ALLIANCES may only deliberately cause
GAME PIECES to leave an ALLIANCE STATION or LOADING LANE
A. during TELEOP,
B. by a HUMAN PLAYER or DRIVER, and
C. through a LOADING STATION slot.
Violation: FOUL per GAME PIECE. If strategic, RED CARD.
H09. PILOTS, keep the GEARS. PILOTS may not throw GEARS from the AIRSHIP.
Violation: RED CARD.
H10. GEARS stay installed. Once a ROTOR is started, the PILOT may not remove any GEARS used
to start it.
Violation: RED CARD.
The ARENA will sound an alert when thirty (30) seconds remain in
TELEOP.
H12. You cant bring/use anything you want. The only equipment that may be brought to the
ARENA and used by DRIVE TEAMS during a MATCH is listed below. Regardless if equipment
fits criteria below, it may not be employed in a way that breaks any other rules, introduces a
safety hazard (e.g. a step stool or large signaling device in the confined space of the AIRSHIP
are safety concerns), blocks visibility for FIELD STAFF or audience members, or jams or
interferes with the remote sensing capabilities of another Team, including vision systems,
acoustic range finders, sonars, infrared proximity detectors, etc. (e.g. including imagery that, to a
reasonably astute observer, mimics the Vision Guides).
A. the OPERATOR CONSOLE,
B. BANNERS and devices, if needed, to assist placement in the BANNER Holder,
C. non-powered signaling devices,
D. reasonable decorative items,
E. special clothing and/or equipment required due to a disability
F. devices used solely for the purpose of planning or tracking strategy provided they
meet all of the following conditions:
do not connect or attach to the OPERATOR CONSOLE
do not connect or attach to the FIELD or ARENA
do not connect or attach to another ALLIANCE member
do not communicate with anything or anyone outside of the ARENA.
do not include any form of enabled wireless electronic communication (e.g.
radios, walkie-talkies, cell phones, Bluetooth communications, Wi-Fi, etc.)
do not in any way affect the outcome of a MATCH, other than by allowing
PLAYERS to plan or track strategy for the purposes of communication of that
strategy to other ALLIANCE members.
G. non-powered Personal Protective Equipment (examples include, but arent limited to,
gloves, eye protection, and hearing protection)
Violation: MATCH will not start until situation remed ied. If discovered or used inappropriately
during a MATCH, TECH FOUL.
H13. FUEL overboard? Only out the PORT. In a circumstance where FUEL gets in an AIRSHIP, the
only way a PILOT may remove it is by dropping it through the PORT.
Violation: FOUL per FUEL.
H14. You have to use the CRANK. PILOTS may only start ROTORS 2, 3, and 4 by turning the
CRANK installed in the first GEAR in the set.
Violation: YELLOW CARD.
8.1 Overview
The rules listed below explicitly address legal parts and materials and how those parts and materials may
be used on a 2017 ROBOT. There are many reasons for the structure of the rules, including safety,
reliability, parity, creation of a reasonable design challenge, adherence to professional standards, impact
on the competition, and compatibility with the Kit of Parts (KOP), which is the collection of items listed on
any Kickoff Kit Checklists, distributed via FIRST Choice, or paid for completely, except shipping, with a
Product Donation Voucher (PDV).
Another intent of these rules is to have all energy sources and active actuation systems on the ROBOT
(e.g. batteries, compressors, motors, servos, cylinders, and their controllers) drawn from a well-defined
set of options. This is to ensure that all Teams have access to the same actuation resources and that the
Inspectors are able to accurately assess the legality of a given part.
ROBOTS are made up of COMPONENTS and MECHANISMS. A COMPONENT is any part in its most
basic configuration, which cannot be disassembled without damaging or destroying the part or altering its
fundamental function. A MECHANISM is a COTS or custom assembly of COMPONENTS that provide
specific functionality on the ROBOT. A MECHANISM can be disassembled (and then reassembled) into
individual COMPONENTS without damage to the parts.
Many rules in this section reference Commercial-Off-The-Shelf (COTS) items. A COTS item must be a
standard (i.e. not custom order) part commonly available from a VENDOR for all Teams for purchase. To
be a COTS item, the COMPONENT or MECHANISM must be in an unaltered, unmodified state (with the
exception of installation or modification of any software). Items that are no longer commercially available
but are functionally equivalent to the original condition as delivered from the VENDOR are considered
COTS and may be used.
A VENDOR is a legitimate business source for COTS items that satisfies all of the following criteria:
A. has a Federal Tax Identification number. In cases where the VENDOR is outside of
the United States, they must possess an equivalent form of registration or license
with the government of their home nation that establishes and validates their status
as a legitimate business licensed to operate within that country.
B. is not a wholly owned subsidiary of a FIRST Robotics Competition Team or
collection of Teams. While there may be some individuals affiliated with both a Team
and the VENDOR, the business and activities of the Team and VENDOR must be
completely separable.
C. must be able to ship any general (i.e., non-FIRST unique) product within five
business days of receiving a valid purchase request. It is recognized that certain
unusual circumstances (such as 1,000 FIRST Teams all ordering the same part at
once from the same VENDOR) may cause atypical delays in shipping due to
backorders for even the largest VENDORs. Such delays due to higher-than-normal
order rates are excused.
D. should maintain sufficient stock or production capability to fill Teams orders within a
reasonable period during the season (less than 1 week). (Note that this criterion may
not apply to custom-built items from a source that is both a VENDOR and a
fabricator. For example, a VENDOR may sell flexible belting that the Team wishes to
procure to use as treads on their drive system. The VENDOR cuts the belting to a
custom length from standard shelf stock that is typically available, welds it into a loop
to make a tread, and ships it to a Team. The fabrication of the tread takes the
VENDOR two weeks. This would be considered a FABRICATED ITEM, and the two-
week ship time is acceptable.) Alternately, the Team may decide to fabricate the
treads themselves. To satisfy this criterion, the VENDOR would just have to ship a
length of belting from shelf stock (i.e. a COTS item) to the Team within five business
days and leave the welding of the cuts to the Team.)
E. makes their products available to all FIRST Robotics Competition Teams. VENDOR
must not limit supply or make a product available to just a limited number of FIRST
Robotics Competition Teams.
A FABRICATED ITEM is any COMPONENT or MECHANISM that has been altered, built, cast,
constructed, concocted, created, cut, heat treated, machined, manufactured, modified, painted, produced,
surface coated, or conjured partially or completely into the final form in which it will be used on the
ROBOT.
Teams may be asked to provide documentation proving legality of non-2017 KOP items during Inspection
where a Rule specifies limits for a legal part (e.g. pneumatic items, current limits, COTS electronics, etc.).
Some of these rules make use of English unit requirements for parts. If your team has a question about a
metric-equivalent parts legality, please e-mail your question to frcparts@firstinspires.org for an official
ruling. To seek approval for alternate devices for inclusion in future FIRST Robotic Competition seasons,
please contact frcparts@firstinspires.org with item specifications.
Teams should acknowledge the support provided by the corporate Sponsors and Mentors with an
appropriate display of their school and Sponsors names and/or logos (or the name of the supporting
youth organization, if appropriate).
FIRST Robotics Competition can be a full-contact competition and may include rigorous game play. While
the rules aim to limit severe damage to ROBOTS, Teams should design their ROBOTS to be robust.
R02. In the STARTING CONFIGURATION (the physical configuration in which a ROBOT starts a
MATCH), no part of the ROBOT shall extend outside the vertical projection of the FRAME
PERIMETER, with the exception of its BUMPERS and minor protrusions such as bolt heads,
fastener ends, rivets, etc.
R03. Maximum ROBOT size, including BUMPERS and all extensions, must be constrained to one of
two volumes:
A. 36 in. by 40 in. by 24 in. tall (~91 cm by 101 cm by 60 cm tall).
B. 30 in. by 32 in. by 36 in. tall (~76 cm by 81 cm by 91 cm tall).
The ROBOT must remain constrained to the maximum inspected volume at all times during the
MATCH (i.e. A ROBOT may not switch between volume A and volume B without being re-
inspected).
Be sure to consider the size of the ROBOT on its cart to make sure it will
fit through doors. Also consider the size of the ROBOT to ensure that it
will fit into a shipping crate, bag, vehicle, etc.
R04. The ROBOT weight must not exceed 120 lbs. When determining weight, the basic ROBOT
structure and all elements of all additional MECHANISMS that might be used in different
configurations of the ROBOT shall be weighed together.
For the purposes of determining compliance with the weight limitations, the following items are
excluded:
A. ROBOT BUMPERS
B. ROBOT battery and its associated half of the Anderson cable quick
connect/disconnect pair (including no more than 12 in. (~30 cm) of cable per leg, the
associated cable lugs, connecting bolts, and insulation)
R07. ROBOT parts shall not be made from hazardous materials, be unsafe, cause an unsafe condition,
or interfere with the operation of other ROBOTS.
Examples of items that will violate R07 include (but are not limited to):
R08. ROBOTS must allow removal of GAME PIECES from the ROBOT and the ROBOT from FIELD
elements while DISABLED and powered off.
R09. Lubricants may be used only to reduce friction within the ROBOT. Lubricants must not
contaminate the ARENA or other ROBOTS.
R11. No individual, non-KOP item shall have a value that exceeds $400 USD. The total cost of
COMPONENTS purchased in bulk may exceed $400 USD as long as the cost of an individual
COMPONENT does not exceed $400 USD.
R12. The CAW cost of each non-KOP item must be calculated based on the unit fair market value for
the material and/or labor, except for labor provided by Team members (including sponsor
employees who are members of the team), members of other Teams, event provided Machine
Shops and shipping.
Example 4: A Team purchases steel bar stock for $10 USD and has it
machined by a local machine shop. The machine shop is not considered
a team Sponsor, but donates two (2) hours of expended labor anyway.
The Team must include the estimated normal cost of the labor as if it
were paid to the machine shop, and add it to the $10 USD.
Example 5: A Team purchases steel bar stock for $10 USD and has it
machined by a local machine shop that is a recognized Sponsor of the
Team. If the machinists are considered members of the Team, their labor
costs do not apply. The total applicable cost for the part would be $10
USD.
Example 6: A Team purchases steel bar stock for $10 USD and has it
machined by another Team. The total applicable cost for the part would
be $10 USD.
R13. Physical ROBOT elements created before Kickoff are not permitted. Exceptions are:
A. OPERATOR CONSOLE,
B. BUMPERS (a protective assembly designed to attach to the exterior of the ROBOT
and constructed as specified in Section 8.5 Bumper Rules),
C. battery assemblies per R04-B,
D. FABRICATED ITEMS consisting of one COTS electrical device (e.g. a motor or
motor controller), connectors, and any materials used to secure and insulate those
connectors
Please note that this means that FABRICATED ITEMS from ROBOTS
entered in previous FIRST competitions may not be used on ROBOTS in
the 2017 FIRST Robotics Competition (other than those allowed per
R13-C and R13-D). Before the formal start of the Build Season, Teams
are encouraged to think as much as they please about their ROBOTS.
They may develop prototypes, create proof-of-concept models, and
conduct design exercises. Teams may gather all the raw stock materials
and COTS COMPONENTS they want.
R14. Software and mechanical/electrical designs created before Kickoff are only permitted if the source
files (complete information sufficient to produce the design) are available publicly prior to Kickoff.
R15. All ROBOT elements (including items intended for use during the competition in alternative
configurations of the ROBOT), with the exception of the WITHHOLDING ALLOWANCE per R21,
BUMPERS, and COTS items, must be bagged and sealed, by 04:59 UTC on Stop Build Day,
Wednesday, February 22, 2017.
Locate the Bag and Tag kit from your Kickoff Kit which contains two
plastic bags large enough to contain your ROBOT and at least ten
tags with individual serial numbers.
Set the bag on the floor, leaving room for the ROBOT in the center.
Place the ROBOT in the center of the bag and pull the bag up
around the ROBOT. Be careful not to catch the bag on the corners or
sharp edges.
Tightly seal the bag with your next numbered tag.
Complete the ROBOT Lock-up Form to verify the date and time that
the bag was sealed. The ROBOT Lock-up Form must be signed by
an adult, 18 years old or older, who is not a student on the team.
This form must be brought with you to the event.
R16. For convenience, Teams may disassemble their ROBOT and use two (2) bags to Bag and Tag
the pieces. However, no more than two (2) bags may be used and each bag must have its own
numbered tag and entry on the ROBOT Lock-up Form.
R17. If you are attending another event, such as the FIRST Championship or another Regional or
District event, you must re-seal your ROBOT in the bag with a new tag and enter the new tag
number on the ROBOT Lock-up Form prior to leaving the event.
Modifying parts at night offsite (e.g. pits have closed and you bring a
MECHANISM back to the hotel to fix it) is a violation of R18-C.
The intent of this option is to allow Teams to briefly show their ROBOT to
their community, sponsors, or potential sponsors after Stop Build Day.
The intent is not to allow 'exhibition matches', or other similar activities, as
this would be considered practice.
Unbagging a ROBOT and putting it on display for many hours (i.e., more
than four (4)) at a time is not considered a brief display.
If you have any questions about the ROBOT Display option, please email
frcparts@firstinspires.org.
G. Teams attending 2-day events may access their ROBOTS using the ROBOT Access
Period.
Teams attending 2-day events will not have as much time to work on
their ROBOTS at events as Teams attending traditional 3-day Regional
events. Due to this, teams are granted an additional Robot Access
Period to un-bag their ROBOT between the Stop Build Day and their
2-day district events. 2-day events for the 2017 season include District
Qualifier events for the following areas:
This means teams may not store FABRICATED ITEMS outside the pits
to be brought to the event at a later time. This set may be changed
between events (i.e. a Team may leave a different set of items out of the
bag and/or fabricate new items to bring to their next event) provided the
total weight of FABRICATED ITEMS brought to the next event does not
exceed thirty (30) lbs. (~13 kg.).
For Teams attending 2-Day Events, these FABRICATED ITEMS may be used during the ROBOT
Access Period and/or brought to the Event, but the total weight may not exceed 30 lbs. (~13 kg.)
FABRICATED ITEMS constructed during the ROBOT Access Period and bagged with the
ROBOT are exempt from this limit.
R26. Each ROBOT must be able to display Red or Blue BUMPERS to MATCH their ALLIANCE color,
as assigned in the MATCH schedule distributed at the event (as described in Section 10.4.1
Schedule). BUMPER Markings visible when installed on the ROBOT, other than the following, are
prohibited:
A. those required per R27,
B. hook-and-loop fastener backed by the hard parts of the BUMPER, and
C. solid white FIRST logos between 4 in. (~13 cm) and 5 in. wide (~13 cm) (i.e.
comparable to those distributed in the 2017 Kickoff Kit).
R27. Team numbers must be displayed and positioned on the BUMPERS such that an observer
walking around the perimeter of the ROBOT can unambiguously tell the Teams number from any
point of view and meet the following additional criteria:
A. consist of numerals at least 4 in. (~11 cm) high, at least in. (~12.7 mm) in stroke
width, and be either white in color or outlined in white
B. must not wrap around sharp corners (less than 160 degrees) of the FRAME
PERIMETER
C. may not substitute logos or icons for numerals
R28. Each set of BUMPERS (including any fasteners and/or structures that attach them to the
ROBOT) must weigh no more than 20 lbs (~9 kg).
B. hard BUMPER parts allowed per R29-A, R29-E, R29-F, and R29-G must not extend
more than 1 in. (~25 mm) beyond the FRAME PERIMETER with the exception of
minor protrusions such as bolt heads, fastener ends, rivets, etc. (Figure 8-3 and
Figure 8-5).
Figure 8-3: Hard Parts of BUMPER Corners
C. use a stacked pair of approximately 2 in. (nominal) round, petal, or hex pool
noodles (solid or hollow) as the BUMPER cushion material (see Figure 8-5). All pool
noodles used in a BUMPER set (e.g. Red set of BUMPERS) may not be deformed
and must be the same diameter, cross-section, and density (e.g. all round hollow or
all hex solid). Cushion material may extend up to 2 in. (~63 mm) beyond the end of
the plywood (see Figure 8-6). To assist in applying the fabric covering, soft fasteners
may be used to attach the pool noodles to the wood backing, so long as the cross
section in Figure 8-5 is not significantly altered (e.g. tape compressing the pool
noodles).
D. be covered with a rugged, smooth cloth. (multiple layers of cloth and seams are
permitted if needed to accommodate R26, provided the cross section in Figure 8-5 is
not significantly altered).
Silk and bedding are not considered rugged materials, however 1000D
Cordura is. Tape (e.g. gaffers tape) matching the BUMPER color is
allowed to patch small holes on a temporary basis.
The cloth must completely enclose all exterior surfaces of the wood and pool noodle
material when the BUMPER is installed on the ROBOT. The fabric covering the
BUMPERS must be solid in color.
E. optionally use aluminum angle, as shown in Figure 8-5 or other fasteners (e.g.
staples, screws, etc.) to clamp cloth.
F. optionally use aluminum brackets (i.e. angle or sheet metal) to attach BUMPER
segments to each other (see Figure 8-4).
Figure 8-4: Hard Parts of BUMPER Corners
G. must attach to the FRAME PERIMETER of the ROBOT with a rigid fastening system
to form a tight, robust connection to the main structure/frame (e.g. not attached with
hook-and-loop, tape, or tie-wraps). The attachment system must be designed to
withstand vigorous game play. All removable fasteners (e.g. bolts, locking pins, pip-
pins, etc.) will be considered part of the BUMPERS.
R30. Corner joints between BUMPERS must be filled with pool noodle material. Examples of
implementation are shown in Figure 8-6.
Figure 8-6: Soft Parts of BUMPER Corners
Max Qty
Motor Name Part Numbers Available
Allowed
FR801-001
M4-R0062-12
AM802-001A
217-2000
CIM PM25R-44F-1005 6
PM25R-45F-1004
PM25R-45F-1003
PMR25R-45F-1003
PMR25R-44F-1005
West Coast Products RS775 Pro 217-4347
M7-RS775-18
RS775WC-8514
Banebots M5 RS550-12
RS550VC-7527
RS550
AndyMark 9015 am-0912
VEX BAG 217-3351
VEX mini-CIM 217-3371
am-2161 (alt. PN am-2765)
AndyMark PG
am-2194 (alt. PN am-2766)
Select Automotive Motors
(Window, Door, Windshield wiper, Various
Unlimited
Seat, Throttle)
Snow Blower Motor am-2235
AndyMark NeveRest am-3104
Electrical solenoid actuators, no greater than 1 in. (nominal) stroke and rated
electrical input power no greater than 10 watts (W) continuous duty at 12 volts
(VDC)
Hard drive motors or fans that are: included in any Kickoff Kit, distributed via
FIRST Choice, part of a legal motor controller (including manufacturer
provided accessories), or part of a legal COTS computing device
Factory installed vibration and autofocus motors resident in COTS computing
devices (e.g. rumble motor in a smartphone).
PWM COTS servos with a retail cost < $75.
Motors integral to a COTS sensor (e.g. LIDAR, scanning sonar, etc.),
provided the device is not modified except to facilitate mounting
For servos, note that the roboRIO is limited to a max current output of
2.2A on the 6V rail (12.4W of electrical input power). Teams should
make sure that their total servo power usage remains below this limit at
all times.
This is the total number of each motor a Team may use on their ROBOT,
not the quantity per part number. For example, each team may use up to
six (6) CIM motors on their ROBOT, regardless of the quantity or
combination of each individual part number used.
R33. The integral mechanical and electrical system of any motor must not be modified. Motors, servos,
and electric solenoids used on the ROBOT shall not be modified in any way, except as follows:
A. The mounting brackets and/or output shaft/interface may be modified to facilitate the
physical connection of the motor to the ROBOT and actuated part.
B. The electrical input leads may be trimmed to length as necessary and connectors or
splices to additional wiring may be added.
C. The locking pins on the window motors (P/N: 262100-3030 and 262100-3040) may
be removed.
D. The connector housings on window, door, windshield wiper or seat motors and Bosch
motors (P/N: 6004 RA3 353-01) may be modified to facilitate lead connections.
E. Servos may be modified as specified by the manufacturer (e.g. re-programming or
modification for continuous rotation).
The intent of this rule is to allow teams to modify mounting tabs and the
like, not to gain a weight reduction by potentially compromising the
structural integrity of any motor. The integral mechanical and electrical
system of the motor is not to be modified.
Note that for the previous KOP Window motors and the Bosch motor, the
gearbox is considered integral to the motor, thus the motor may not be
used without the gearbox.
R34. With the exception of servos, fans, or motors integral to sensors of COTS computing devices
permitted in R32, each actuator must be controlled by a power regulating device. The only power
regulating devices for actuators permitted on the ROBOT include:
A. Motor Controllers
DMC 60 Motor Controller (P/N: 410-334-1)
Jaguar Motor Controller (P/N: MDL-BDC, MDL-BDC24, and 217-3367)
SD540 Motor Controller (P/N: SD540x1, SD540x2, SD540x4, SD540Bx1,
SD540Bx2, SD540Bx4, SD540C)
Spark Motor Controller (P/N: REV-11-1200)
Talon Motor Controller (P/N: CTRE_Talon, CTRE_Talon_SR, and am-2195)
Talon SRX Motor Controller (P/N: 217-8080, am-2854, 14-838288), equipped
with firmware version 0.28 or newer if using via PWM. See R75 if using via
CAN.
Victor 884 Motor Controller (P/N: VICTOR-884-12/12)
Victor 888 Motor Controller (P/N: 217-2769)
Please see the Talon SRX User Guide for more information about the
Talon SRX firmware update, determining the firmware on your Talon
SRX, and instructions on how install.
R35. Each power regulating device may control electrical loads per Table 8-2. Unless otherwise noted,
each power regulating device shall control one and only one electrical load.
Table 8-2: Power regulating device allotments
Pneumatics
Electrical Load Motor Controller Relay Module
Controller
CIM
AndyMark 9015
WCP RS775 Pro Yes No No
VEX BAG/MiniCIM
Banebots
Automotive
Window/Door/Windshield
Wiper/Seat/Throttle Yes
Yes
Motors (up to 2 per No
AndyMark PG controller)
Snow-Blower Motor
NeverRest
Compressor No Yes Yes
Pneumatic Solenoid Yes (1 per
No Yes*
Valves channel)
Yes (1 per
Electric Solenoids No Yes*
channel
Yes (1 per
CUSTOM CIRCUITS Yes Yes*
channel)
* Multiple low-load, pneumatic solenoid valves, electric solenoids or CUSTOM CIRCUITS may be
connected to a single relay module. This would allow one (1) relay module to drive multiple
pneumatic actions or multiple CUSTOM CIRCUITS. No other electrical load can be connected to
a relay module used in this manner.
A CUSTOM CIRCUIT is any electrical COMPONENT of the ROBOT other than motors,
pneumatic solenoids, roboRIO, PDP, PCM, VRM, RSL, 120A breaker, motor controllers, relay
modules (per R34-B), wireless bridge, or batteries.
R36. Servos must be connected to, and only to, one of the following:
A. PWM ports on the roboRIO
B. PWM ports on a WCP Spartan Sensor Board (P/N: WCP-0045)
C. REV Servo Power Module (P/N: REV-11-1144)
Additionally, batteries integral to and part of a COTS computing device or self-contained camera
are also permitted (e.g. laptop batteries, GoPro style camera, etc.), provided theyre only used to
power the COTS computing device and any peripheral COTS USB input devices connected to
the COTS computing device and they are securely fastened to the ROBOT.
R38. Any battery charger used to charge a ROBOT battery must have the corresponding Anderson SB
connector installed.
R39. Any battery charger used to charge a ROBOT battery may not be used such that it exceeds 6-
Amp charge current.
This means teams may not use additional batteries as extra weight on
their ROBOTS, for example.
R41. The ROBOT battery must be secured such that it will not dislodge should the ROBOT be turned
over or placed in any arbitrary orientation.
R42. Each electrical terminal on the ROBOT battery, main breaker, and their connections (lugs,
stripped wire ends, etc.) to the wire must be fully insulated at all times.
R43. Non-electrical sources of energy used by the ROBOT, (i.e., stored at the start of a MATCH), shall
come only from the following sources:
A. compressed air stored in the pneumatic system that has been charged in compliance
with R84 and R85,
B. a change in the altitude of the ROBOT center of gravity,
C. storage achieved by deformation of ROBOT parts,
D. closed-loop COTS pneumatic (gas) shocks, and
E. air-filled (pneumatic) wheels.
R44. The one (1) ROBOT battery, a single pair of Anderson Power Products (or APP) 2-pole SB type
connectors, the one (1) main 120-amp (120A) surface mount circuit breaker (Cooper Bussman
P/N: CB185-120 or CB185F-120), and the one (1) CTR Electronics Power Distribution Panel
(PDP, P/N: am-2856, 217-4244, 14-806880) shall be connected with 6 AWG (7 SWG or 16 mm2)
wire or larger, with no additional devices or modifications, as shown in Figure 8-8.
Figure 8-8: Electrical connection diagram
The pink connectors included in the 2017 KOP mate with the Red SB50
connector.
R45. All circuits, with the exceptions of those listed in R50 and R52, must connect to, and have power
sourced solely by, a single protected 12VDC WAGO connector pair (i.e. the Load Terminals, as
shown in Figure 8-8) of the one (1) CTR Electronics Power Distribution Panel, not the M6 cap
screws.
R46. All wiring and electrical devices, including all Control System COMPONENTS, shall be electrically
isolated from the ROBOT frame. The ROBOT frame must not be used to carry electrical current.
Note that some cameras and sensors (e.g. the Axis 206 camera) have
grounded enclosures. These devices must be electrically isolated from
the ROBOT frame to ensure compliance with R46.
R47. The 120A circuit breaker must be quickly and safely accessible from the exterior of the ROBOT.
This is the only 120A circuit breaker allowed on the ROBOT.
R48. The PDP, associated wiring, and all circuit breakers must be easily visible for Inspection.
R49. Any active electrical item that is not an actuator (specified in R32) or core Control System item
(specified in R71) is considered a CUSTOM CIRCUIT. CUSTOM CIRCUITS shall not produce
voltages exceeding 24V.
R50. The roboRIO power input must be connected to the dedicated supply terminals on the PDP
shown in Figure 8-9. No other electrical load shall be connected to these terminals.
R51. The Wireless Bridge power must be supplied directly by the 12V 2A output of a CTR Electronics
Voltage Regulator Module (VRM) (P/N: am-2857, 217-4245) and must be the only load
connected to those terminals.
Figure 8-10: Radio power source
Note that this wiring is different from the wiring for the radio used in
2015, but is identical to the wiring from 2016. When using a 2015 VRM
with the OM5P-AN or OM5P-AC radio, the radio should be connected as
described above, not to the terminals labeled Radio.
Note that this prohibits using any active POE Injector device to power the
radio, but does not prohibit using any PASSIVE CONDUCTORS to inject
the VRM power into an Ethernet cable plugged into the radio port labeled
18-24v POE.
R52. The VRM supplying power to the Wireless Bridge per R51 must be connected to the designated
supply terminals at the end of the PDP, and not the main WAGO connectors along the sides of
the PDP as shown in Figure 8-11. With the exception of a single CTR Electronics Pneumatics
Control Module (PCM, P/N: am-2858), no other electrical load shall be connected to these PDP
terminals.
Please reference Wiring the 2016 FRC Control System for Wireless
Bridge wiring information.
R53. Only one wire shall be connected to each WAGO connector on the PDP.
If multi-point distribution of circuit power is needed (e.g. to provide power
to multiple PCMs and/or VRMs from one 20A circuit), then all incoming
wires may be appropriately spliced into the main lead (e.g. using an
insulated terminal block, crimped splice or soldered wire splice), and the
single main lead inserted into the WAGO connector to power the circuit.
R54. The only circuit breakers permitted for use in the PDP are:
A. Snap Action VB3-A Series, terminal style F57
B. Snap Action MX5-A Series, 40A rating or lower
R55. The fuses in the PDP shall only be replaced with functionally identical fuses (mini automotive
blade fuses with values matching those printed on the PDP)
R56. Each branch circuit must be protected by one and only one circuit breaker on the PDP per Table
8-3. No other electrical load can be connected to the breaker supplying this circuit.
Table 8-3: Branch circuit protection requirements
R57. All circuits shall be wired with appropriately sized insulated wire:
Table 8-4: Wire sizes
Wires that are recommended by the device manufacturer or originally attached to legal devices
are considered part of the device and by default legal. Such wires are exempt from R57.
R58. Branch circuits may include intermediate elements such as COTS connectors, splices, COTS
flexible/rolling/sliding contacts, and COTS slip rings, as long as the entire electrical pathway is via
appropriately gauged/rated elements.
R59. All non-SIGNAL LEVEL wiring with a constant polarity (i.e., except for outputs of relay modules,
motor controllers, or sensors) shall be color-coded along their entire length from the manufacturer
as follows:
A. Red, yellow, white, brown, or black-with-stripe on the positive (e.g. +24VDC,
+12VDC, +5VDC, etc.) connections
B. Black or blue for the common or negative side (-) of the connections.
Wires that are originally attached to legal devices are considered part of the device and by default
legal. Such wires are exempt from R59.
R60. CUSTOM CIRCUITS shall not directly alter the power pathways between the ROBOT battery,
PDP, motor controllers, relays (per R34-B), motors and actuators (per R32), pneumatic solenoid
valves, or other elements of the ROBOT control system (items explicitly mentioned in R71).
Custom high impedance voltage monitoring or low impedance current monitoring circuitry
connected to the ROBOTS electrical system is acceptable, if the effect on the ROBOT outputs is
inconsequential.
A noise filter may be wired across motor leads or PWM leads. Such
filters will not be considered CUSTOM CIRCUITS and will not be
considered a violation of R60 or R77.
A one microfarad (1 F) or less, non-polarized, capacitor may be applied across the power leads
of any motor on your ROBOT (as close to the actual motor leads as reasonably possible).
A resistor may be used as a shunt load for the PWM control signal feeding a servo.
R62. One (1) OpenMesh Wireless Bridge (P/N: OM5P-AN or OM5P-AC), that has been configured with
the appropriate encryption key for your team number at each event, is the only permitted device
for communicating to and from the ROBOT during the MATCH.
R63. The roboRIO Ethernet port must be connected to the Wireless Bridge port labeled 18-24 vPOE,
closest to the power connector (either directly or via a CAT5 Ethernet pigtail).
R64. Ethernet-connected COTS devices or CUSTOM CIRCUITS may connect to any remaining
Ethernet port on the Wireless Bridge but must not transmit or receive UDP packets using ports
1100-1200 with the exception of ports 1130 and 1140.
R65. Communication between the ROBOT and the OPERATOR CONSOLE is restricted as follows:
A. Network Ports:
UDP/TCP 1180-1190: Camera data from the roboRIO to the Driver Station
(DS) when the camera is connected the roboRIO via USB, bi-directional.
TCP 1735: SmartDashboard, bi-directional
UDP 1130: Dashboard-to-ROBOT control data, uni-directional
UDP 1140: ROBOT-to-Dashboard status data, uni-directional
HTTP 80: Camera connected via switch on the ROBOT, bi-directional
HTTP 443: Camera connected via switch on the ROBOT, bi-directional
UDP/TCP 554: Real-Time Streaming Protocol for h.264 camera streaming,
bi-directional
UDP/TCP 5800-5810: Team Use, bi-directional
Teams may use these ports as they wish if they do not employ them as outlined
above (i.e. TCP 1180 can be used to pass data back and forth between the ROBOT
and the DS if the Team chooses not to use the camera on USB).
B. Bandwidth: no more than 7 Mbits/second.
Note that, for 2017, the 7 Mbit limit will be strictly enforced by the
Wireless Bridge.
The FMS Whitepaper has more details on how to check and optimize
bandwidth usage.
R66. The roboRIO, Driver Station software, and Wireless Bridge must be configured to correspond to
the correct Team number, per the procedures defined in Getting Started with the 2017 Control
System.
R67. All signals must originate from the OPERATOR CONSOLE and be transmitted to the ROBOT via
the ARENA Ethernet network.
R68. No form of wireless communication shall be used to communicate to, from, or within the ROBOT,
except those required per R62 and R67.
Devices that employ signals in the visual spectrum (e.g. cameras) and
non-RF sensors that dont receive human-originated commands (e.g.
beam break sensors or IR sensors on the ROBOT used to detect
FIELD elements) arent wireless communication devices and thus R68
doesnt apply.
R69. The Wireless Bridge must be mounted on the ROBOT such that the diagnostic lights are visible to
ARENA personnel.
Teams are encouraged to mount the wireless bridge away from noise
generating devices such as motors, PCM(s), and VRM(s).
R70. ROBOTS must use at least one (1), but no more than two (2), diagnostic Robot Signal Lights
(RSL) (P/N: 855PB-B12ME522).
Any RSL must be:
A. mounted on the ROBOT such that it is easily visible while standing three 3 ft. (~ 100
cm) in front of the ROBOT,
B. connected to the RSL supply terminals on the roboRIO,
C. wired for solid light operation, by placing a jumper between the La and Lb
terminals on the light per Figure 8-12.
Please see Wiring the 2017 FRC Control System for connection details.
R72. Neither 12VDC power nor relay module or motor controller outputs shall be directly connected to
the roboRIO (with the exception of the designated 12VDC input).
R73. Every relay module (per R34-B), servo controller, and PWM motor controller shall be connected
to a corresponding port (relays to Relay ports, servo controllers and PWM controllers to PWM
ports) on the roboRIO (either directly or through a WCP Spartan Sensor Board) or via a legal
MXP connection (per R74). They shall not be controlled by signals from any other source.
R74. If a motor is controlled via the MXP, its power regulating device must be connected by one of the
following methods:
R75. Each Jaguar or Talon SRX must be controlled with signal inputs sourced from the roboRIO and
passed via either a PWM (wired per R73) or CAN-bus (either directly or daisy-chained via another
CAN-bus device) signal, but both shall not be wired simultaneously on the same device. If the
CAN-bus configuration is used, the firmware on the device must be updated to at least the
following versions:
A. Grey Jaguars v109
B. Black Jaguars v109
C. Talon SRX v1.01.
As long as the CAN bus is wired legally so that the heartbeat from the
roboRIO is maintained, all closed loop control features of the Jaguar or
Talon SRX motor controller may be used. (That is, commands originating
from the roboRIO to configure, enable, and specify an operating point for
all Jaguar or Talon SRX closed loop modes fit the intent of R61.)
R76. Each PCM must be controlled with signal inputs sourced from the roboRIO and passed via a
CAN-bus connection from the roboRIO (either directly or daisy-chained via another CAN-bus
device). The firmware on each PCM must be updated to at least version 1.62.
R77. The PDP CAN interface must be connected to the CAN-bus on the roboRIO (either directly or
daisy-chained via another CAN-bus device).
Only one wire should be inserted into each Weidmuller CAN connector
terminal. For documentation on how to wire the CAN-bus connections of
the roboRIO, PCM, PDP and CAN motor controllers, see Wiring the 2017
FRC Control System.
R81. All pneumatic COMPONENTS must be used in their original, unaltered condition. Exceptions are
as follows:
A. tubing may be cut,
B. wiring for pneumatic devices may be modified to interface with the control system,
C. assembling and connecting pneumatic COMPONENTS using the pre-existing
threads, mounting brackets, quick-connect fittings, etc.,
D. removing the mounting pin from a pneumatic cylinder, provided the cylinder itself is
not modified,
E. labeling applied to indicate device purpose, connectivity, functional performance, etc.
Do not, for example, paint, file, machine, or abrasively remove any part
of a pneumatic COMPONENT this would cause the part to become a
prohibited item. Consider pneumatic COMPONENTS sacred.
R82. The only pneumatic system items permitted on ROBOTS include the items listed below.
A. Items available in the KOP (except as noted in K),
B. Pneumatic pressure vent plug valves functionally equivalent to those provided in the
KOP,
The following devices are not considered pneumatic devices and are not
subject to pneumatic rules (though they must satisfy all other rules):
R83. If pneumatic COMPONENTS are used, the following items are required as part of the pneumatic
circuit and must be used in accordance with this section, as illustrated in Figure 8-13.
A. Compressor
B. Pressure relief valve (per R82-C) connected via legal rigid fittings (e.g. brass, nylon,
etc.)
C. Nason pressure switch, P/N SM-2B-115R/443
D. At least one Pressure vent plug
E. Stored pressure gauge (upstream from Primary Regulator, must show psi)
F. Working pressure gauge (downstream from Primary Regulator, must show psi)
G. Working pressure regulator
R84. Compressed air on the ROBOT must be provided by one and only one compressor. Compressor
specifications must not exceed nominal 1.10 cfm (~519 cm3/s) flow rate @ 12VDC.
R85. The compressor (permitted per R84) may be located off-board the ROBOT, however the
compressor must still be controlled and powered by the ROBOT when used.
The compressor may be mounted on the ROBOT, or it may be left off the
ROBOT and used to pre-charge compressed air in storage tanks on the
ROBOT provided the additional restrictions of R90 are met.
The intent of this rule is to permit teams to take advantage of the weight
savings associated with keeping the compressor off-board. However,
using the compressor off-board of the ROBOT does NOT permit non-
compliance with any other applicable rules.
R86. Stored air pressure on the ROBOT must be no greater than 120 psi (~827 kPa). No stored air
pressure intended for the ROBOT may be located off-board the ROBOT.
R87. Working air pressure on the ROBOT must be no greater than 60 psi (~413 kPa) and must be
provided through a single primary adjustable, relieving, pressure regulator.
R89. Pressure gauges must be placed in easily visible locations upstream and downstream of the
regulator to display the stored and working pressures.
R90. If the compressor is not included on the ROBOT (under the provisions of R85) the stored
pressure gauge and pressure switch may be located on-board (Figure 8-14) or off-board (Figure
8-15) (but must be together), provided all other pneumatic rules are satisfied.
Figure 8-14: Off board compressor with stored pressure gauge and pressure switch on the ROBOT
R91. If the stored pressure gauge is kept off-board the ROBOT with the compressor, then only low-
pressure (60 psi (~413 kPa) or less) working air can be stored on the ROBOT. The working
pressure gauge must be installed on-board the ROBOT at all times (Figure 8-15).
R92. The relief valve must be attached directly to the compressor or attached by legal hard fittings (e.g.
brass, nylon, etc.) connected to the compressor output port. If using an off-board compressor, an
additional relief valve must be included on the ROBOT.
If necessary, Teams are required to adjust the relief valve to release air at 125 psi (~861 kPa).
The valve may or may not have been calibrated prior to being supplied to Teams.
R95. The outputs from multiple solenoid valves must not be plumbed together.
R97. The OPERATOR CONSOLE, the set of COMPONENTS and MECHANISMS used by the
DRIVERS and/or HUMAN PLAYER to relay commands to the ROBOT, must include a graphic
display to present the Driver Station diagnostic information. It must be positioned within the
OPERATOR CONSOLE so that the screen display can be clearly seen during Inspection and in a
MATCH.
R98. Devices hosting the Driver Station software must only interface with the Field Management
System (FMS) via the Ethernet cable provided at the PLAYER STATION (e.g. not through a
switch). Teams may connect the FMS Ethernet cable to their Driver Station device directly via an
Ethernet pigtail, or with a single-port Ethernet converter (e.g. docking station, USB-Ethernet
converter, Thunderbolt-Ethernet converter, etc.). The Ethernet port on the OPERATOR
CONSOLE must be easily and quickly accessible.
Teams are strongly encouraged to use pigtails on the Ethernet port used
to connect to the FMS. Such pigtails will reduce wear and tear on the
devices port and, with proper strain relief employed, will protect the port
from accidental damage.
There is a 54 in. (~137 cm) long by 2 in. (nominal) wide strip of hook-
and-loop tape (loop side) along the center of the PLAYER STATION
support shelf that may be used to secure the OPERATOR CONSOLE to
the shelf, per G15. See Section 3.11.1 PLAYER STATION for details.
R100. Other than the system provided by the ARENA, no other form of wireless communications shall
be used to communicate to, from, or within the OPERATOR CONSOLE.
Examples of prohibited wireless systems include, but are not limited to,
active wireless network cards and Bluetooth devices. For the case of the
FIRST Robotics Competition, a motion sensing input device (e.g.
Microsoft Kinect) is not considered wireless communication and is
allowed.
At each event, the Lead Robot Inspector (LRI) has final authority on the legality of any COMPONENT,
MECHANISM, or ROBOT. Inspectors may re-Inspect ROBOTS to ensure compliance with the rules.
ROBOTS are permitted to participate in scheduled Practice MATCHES prior to passing Inspection.
However, the FIRST Technical Advisor (FTA), LRI, or Head REFEREE may determine at any time that
the ROBOT is unsafe, per safety rules, and may prohibit further participation in Practice MATCHES until
the condition is corrected and/or the ROBOT passes Inspection.
Prior to the start of a MATCH, any ROBOT which is unable or ineligible to participate in that MATCH as
determined by the FTA, LRI, or Head REFEREE is declared to be BYPASSED and is DISABLED. A
Team whose ROBOT is BYPASSED remains eligible to receive Qualification Ranking Points or Playoff
MATCH points provided that its ROBOT has passed Inspection, per I02.
I01. The ROBOT must be built by the Team and to play this years game. The ROBOT is an
electromechanical assembly built by the FIRST Robotics Competition Team to perform specific
tasks when competing in FIRST STEAMWORKSSM. The ROBOT must include all of the basic
systems required to be an active participant in the game power, communications, control,
BUMPERS, and movement. The ROBOT implementation must obviously follow a design
approach intended to play FIRST STEAMWORKS (e.g. a box of unassembled parts placed on
the FIELD, or a ROBOT designed to play a different game does not satisfy this definition).
I01 requires that the ROBOT a Team uses in competition was built by
that Team, but isnt intended to prohibit assistance from other Teams
(e.g. fabricating elements, supporting construction, writing software,
developing game strategy, contributing COMPONENTS and/or
MECHANISMS, etc.).
I02. Get inspected before playing a Qualification/Playoff MATCH. A Team is only permitted to
participate in a Qualification or Playoff MATCH and receive Ranking or MATCH Points
respectively if their ROBOT has passed an initial, complete Inspection.
Violation: If prior to the start of the MATCH, the Team is not eligible to participate in the MATCH.
If after the start of the MATCH, the entire ALLIANCE receives a RED CARD for that MATCH.
I03. Bring it all to Inspection. At the time of Inspection, the ROBOT must be presented with all
MECHANISMS (including all COMPONENTS of each MECHANISM), configurations, and
decorations that will be used on the ROBOT during the competition event. It is acceptable,
however, for a ROBOT to play MATCHES with a subset of the MECHANISMS that were present
during Inspection. Only MECHANISMS that were present during the Inspection may be added,
E. be configured such that it engages securely with the FIELD with a Retaining Feature
(RF) that does not extend more than 2 in. (~5 cm) below the DAVIT fingers.
To interface with the field a ROPE must have a retaining feature (e.g. a
knot) greater than 1 in. (~25.4 mm) in diameter to interface with the
DAVITS (RF).
F. if knotted, the top knot must be at least 29 in. (~74 cm) below the retaining
knot/feature (K)
G. if frayed, knotted or looped, the total diameter does not exceed 10 in. (~25 cm) (D)
H. be designed/configured to not exceed a length of 5 in. (~12 cm) measured from the
side of the ROPES retaining feature (per I04-E) that abuts the DAVIT fingers, to the
closest end on the ROPE from this feature (S).
The intent of I04 is to allow Teams the convenience of bringing their own
ROPE for reliability and predictability purposes, as well as accommodate
some modifications to ease the challenge associated with accessing the
TOUCHPAD (e.g. tying knots).
I. be flexible such that its not capable of being pushed to activate the TOUCHPAD.
Flexible means that if the ROPE is held at any point, it should not extend
more than 12 in. (~30 cm) above the point where it is held. ROPES are
meant to be pulled, not pushed.
I05. Unless the change is listed below, any change to a ROBOT must get re-inspected. If a
ROBOT is modified after it has passed its most recent Inspection, that ROBOT must be re-
Inspected before the ROBOT is eligible to participate in a MATCH. Exceptions are listed in A
through F (unless they result in a significant change to the ROBOTS size, weight, legality, or
safety).
A. addition, relocation, or removal of fasteners (e.g. cable ties, tape, and rivets)
I06. Changes to a ROPE need re-inspection. If a ROPE is modified after it has passed its most
recent Inspection, that ROPE must be re-Inspected before the ROPE is eligible for a MATCH.
I07. Document your costs. A Cost Accounting Worksheet (CAW), listing all items on the ROBOT
except those listed in R10 and their relevant costs per Section 8.4 Budget Constraints &
Fabrication Schedule, must be presented at the time of Inspection.
I08. ROBOTS are off for Inspection, mostly. For the safety of all those involved, Inspections must
take place with the ROBOT powered off, pneumatics unpressurized, and springs or other stored
energy devices in their lowest potential energy states (e.g. battery removed).
Power and air pressure should only be enabled on the ROBOT during those portions of the
Inspection process where it is absolutely required to validate certain system functionality and
compliance with specific rules (firmware check, etc.). Inspectors may allow the ROBOT to be
powered up beyond the parameters above if both criteria below are met.
A. The ROBOT design requires power or a charged stored energy device in order to
confirm that the ROBOT meets volume requirements, and
B. The Team has included safety interlocks that mitigate unexpected release of such
stored energy.
I09. No student, no Inspection. At least one student Team member must accompany the ROBOT for
any Inspection efforts.
Practice MATCHES provide each Team with an opportunity to operate its ROBOT on the FIELD prior to
the start of the Qualification MATCHES.
Qualification MATCHES allow each Team to earn a seeding position that may qualify them for
participation in the Playoff MATCHES.
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T01. Teams wanting additional Practice MATCHES may not join the Filler Line unless all criteria listed
below are met:
A. ROBOTS in the Filler Line must have passed Inspection (this requirement may be waived
for events with open Practice MATCH schedules);
B. DRIVE TEAMS must join the Filler Line with their ROBOT;
C. Teams may not work on their ROBOT while in the Filler Line;
D. Teams may not occupy more than one spot in the Filler Line; and
E. If a Team is queued for their Practice MATCH, they may not also join the Filler Line.
10.3 Measurement
The ARENA will be open for at least thirty (30) minutes prior to the start of Qualification MATCHES,
during which time Teams may survey and/or measure the FIELD and bring ROBOTS on the FIELD to
perform sensor calibration. The specific time that the FIELD is open will be communicated to Teams at
the event. Teams may bring specific questions or comments to the FTA.
T02. During the period when the ARENA is open for measurement, ROBOTS can be enabled, but
cannot move, nor can they interact (e.g. shoot, push, pickup, etc.) with GAME PIECES or the
AIRSHIP.
Violation: YELLOW CARD.
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10.4.3 Qualification Ranking
Ranking Points (RP) are units credited to a Team based on their ALLIANCES performance in
Qualification MATCHES. Ranking Points are awarded to each eligible Team at the completion of each
Qualification MATCH:
A. Each Team on the winning ALLIANCE receives two (2) Ranking Points.
B. Each Team on the losing ALLIANCE receives zero (0) Ranking Points.
C. In the event of a tied score, all Teams receive one (1) Ranking Point.
D. Each Team on an ALLIANCE that achieves at least 40 kPa receives one (1) Ranking
Point.
E. Each Team on an ALLIANCE that engages all four (4) ROTORS by the end of the
MATCH receives one (1) Ranking Point.
Exceptions to A-E are as follows:
All Teams participating in Qualification MATCHES are ranked by Ranking Score. If the number of Teams
in attendance is n, they are ranked 1 through n, with 1 being the highest ranked Team and n being
the lowest ranked Team.
Teams are ranked in order, using the sorting criteria defined in Table 10-1.
Table 10-1: Qualification MATCH Ranking Criteria
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In the case where the Quarterfinal or Semifinal MATCH scores for both ALLIANCES are equal, the Win is
awarded to the ALLIANCE per criteria listed in Table 10-2. A DISQUALIFIED Team, as determined by the
Head REFEREE, causes their ALLIANCE to receive zero (0) MATCH points in a Playoff MATCH.
In Finals MATCHES, the Champion ALLIANCE is the first ALLIANCE to win two (2) MATCHES. In the
case where an ALLIANCE hasnt won two (2) MATCHES after three (3) MATCHES, the Playoffs proceed
with up to three (3) additional Finals MATCHES, called Overtime MATCHES, until an ALLIANCE has won
two (2) Finals MATCHES. In the case where the Overtime MATCH scores for both ALLIANCES are
equal, the win for that Overtime MATCH is awarded based on the criteria listed in Table 10-2.
Table 10-2: Quarterfinal, Semifinal, and Overtime Tiebreaker Criteria
If a Team declines the ALLIANCE Lead position or doesnt send a student representative for ALLIANCE
selection, they are ineligible to participate in the Playoff Tournament. If the declining/absent Team would
have been an ALLIANCE Lead, all lower ranked ALLIANCE Leads are promoted one spot. The next
highest-ranked Team moves up to become the ALLIANCE Eight Lead.
Each Team chooses a student Team representative who proceeds to the ARENA at the designated time
(typically before the lunch break on the final day of the event) to represent their Team. The designated
student representative from each ALLIANCE in a Playoff MATCH is called the ALLIANCE CAPTAIN.
The ALLIANCE selection process consists of two (2) rounds during which each ALLIANCE CAPTAIN
invites a Team seeded below them in the standings to join their ALLIANCE. The invited Team must not
already have declined an invitation.
Round 1: In descending order (ALLIANCE One to ALLIANCE Eight), each ALLIANCE CAPTAIN invites a
single Team. The invited Teams representative steps forward and either accepts or declines the
invitation.
If the Team accepts, it becomes a member of that ALLIANCE. If an invitation from a top eight ALLIANCE
to another ALLIANCE Lead is accepted, all lower ALLIANCE Leads are promoted one spot. The next
highest-seeded, unselected Team moves up to become the ALLIANCE Eight Lead.
If the Team declines, that Team is not eligible to be picked again or to be a BACKUP TEAM (see Section
10.5.2 BACKUP TEAMS), and the ALLIANCE CAPTAIN extends another invitation to a different Team. If
an invitation from a top eight ALLIANCE to another ALLIANCE Lead is declined, the declining Team may
still invite Teams to join their ALLIANCE; however, it cannot accept invitations from other ALLIANCES.
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Round 2: The same method is used for each ALLIANCE CAPTAINS second choice except the selection
order is reversed, with ALLIANCE Eight picking first and ALLIANCE One picking last. This process results
in eight (8) ALLIANCES of three (3) Teams each.
Of the remaining eligible Teams, the highest seeded Teams must either accept or decline to be included
in a pool of available Teams until there are up to eight (8) Teams that accept to be added into the pool.
FIELD STAFF will coordinate the assembly of this BACKUP pool immediately after the top ranked
ALLIANCE has made their final pick. If a Team is not available to accept inclusion in the BACKUP pool, it
will be assumed they have declined the invitation.
1. mechanical damage,
2. electrical issues, or
3. software problems.
In this situation, the ALLIANCE CAPTAIN has the option to bring in only the highest seeded Team from
the pool of available Teams to join its ALLIANCE. The Team whose ROBOT and DRIVE TEAM replaces
another ROBOT and DRIVE TEAM on an ALLIANCE during the Playoff MATCHES is called the BACKUP
TEAM.
The resulting ALLIANCE is then composed of four (4) Teams. The replaced Team remains a member of
the ALLIANCE for awards, but cannot return to play, even if their ROBOT is repaired.
Each ALLIANCE is allotted one (1) BACKUP TEAM Coupon during the Playoff MATCHES. If a second
ROBOT from the ALLIANCE becomes inoperable, then the ALLIANCE must play the following MATCHES
with only two (2) (or even one (1)) ROBOTS.
In the case where a BACKUP TEAM is part of the Winning or Finalist ALLIANCE, there will be a four (4)-
Team Winning or Finalist ALLIANCE.
ALLIANCE Leads are assigned to PLAYER STATION 2, the first picks are assigned to the PLAYER
STATIONS closer to the BOILER, and second picks are assigned to the PLAYER STATIONS closer to
the opponents LOADING STATION. If a BACKUP TEAM is in play, they will be assigned to the PLAYER
STATION that was assigned to the DRIVE TEAM theyre replacing.
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For Quarterfinal MATCHES, the higher seeded ALLIANCE is assigned to the Red ALLIANCE. Beyond the
Quarterfinal MATCHES, the ALLIANCE on the top of each MATCH in Figure 10-2 are assigned to the
Red ALLIANCE, regardless of whether they are the higher seeded ALLIANCE in that particular MATCH.
Figure 10-2: Playoff MATCH Bracket
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In order to allow time between MATCHES for all ALLIANCES, the order of play is as follows:
Table 10-3: Playoff Order
Final
FIELD FIELD FIELD Semifinal
Tiebreakers
TIMEOUT1 TIMEOUT1 TIMEOUT1 Tiebreaker 11
(Overtime) 1
Any Replays Semifinal
due to ties1 Tiebreaker 21
FIELD Any Replays
TIMEOUT1 due to ties1
Any Replays
due to ties1
1 - if required
If a DRIVE TEAM needs clarification on a ruling or score, per C09, one (1) pre-college student from that
DRIVE TEAM should address the Head REFEREE after the ARENA Reset Signal (e.g. LED lights turn
green). A DRIVE TEAM member signals their desire to speak with the Head REFEREE by standing in the
corresponding Red or Blue Question Box, which are located on the floor near each end of the scoring
table. Depending on timing, the Head REFEREE may postpone any requested discussion until the end of
the subsequent MATCH.
While FMS tracks quantities of FOULS and TECH FOULS, FIRST instructs REFEREES to not self-track
details about FOULS and TECHNICAL FOULS; as a result, we dont expect REFEREES to recall details
about what FOULS or TECHNICAL FOULS were made, when they occurred, and against whom.
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Any reasonable question is fair game in the Question Box, and Head
REFEREES will do good faith efforts to provide helpful feedback (e.g.
how/why certain FOULS are being called, why a particular ROBOT may
be susceptible to certain FOULS based on its design or game play, how
specific rules are being called or interpreted), but please know that they
will likely not be able to supply specific details
As noted in Section 4.4 Rule Violations and C01, the Head REFEREE may assign a YELLOW CARD as
a warning, or a RED CARD for DISQUALIFICATION in MATCH for egregious behavior inappropriate at a
FIRST Robotics Competition event.
YELLOW CARDS are additive, meaning that a second YELLOW CARD is automatically converted to a
RED CARD. A Team is issued a RED CARD for any subsequent incident in which they receive an
additional YELLOW CARD, including earning a second YELLOW CARD during a single MATCH. A
second YELLOW CARD is indicated by the Head REFEREE standing in front of the Teams PLAYER
STATION and holding a YELLOW CARD and RED CARD in the air simultaneously after the completion of
the MATCH. A Team that has received either a YELLOW CARD or a RED CARD carries a YELLOW
CARD into subsequent MATCHES, except as noted below. A RED CARD results in DISQUALIFICATION.
Once a Team receives a YELLOW or RED CARD, its Team number will be presented with a yellow
background on the audience screen at the beginning of all subsequent MATCHES, including any replays,
as a reminder to the Team, the REFEREES, and the audience that they carry a YELLOW CARD.
Figure 10-3: Audience Screen Graphic Showing YELLOW and RED CARD Indicators
All YELLOW CARDS are cleared at the conclusion of Qualification MATCHES, providing teams a clean
slate at the beginning of Playoff MATCHES.
During the Playoff MATCHES, if a Team receives a YELLOW or RED CARD, it results in the entire
ALLIANCE receiving the YELLOW or RED CARD for that MATCH. If two different Teams on the same
ALLIANCE are issued YELLOW CARDS, the entire ALLIANCE is issued a RED CARD. A RED CARD
results in zero (0) points for that MATCH, and the ALLIANCE loses the MATCH. If both ALLIANCES
receive RED CARDS, the ALLIANCE which committed the action earning the RED CARD first
chronologically loses the MATCH.
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YELLOW and RED CARDS are applied based on the following:
Table 10-4: YELLOW and RED CARD application
All reasonable effort is made to create the same conditions when replaying a MATCH. This means, for
example, that a Team which was BYPASSED during the MATCH which is to be replayed, is BYPASSED
for the replay MATCH.
Note that an ARENA FAULT that does not affect MATCH outcome in the
judgement of the Head REFEREE does not lead to a MATCH replay.
Examples include, but are not limited to:
A. a piece of FIELD plastic falls into the FIELD in the last 5 seconds of
a MATCH, far away from any human or ROBOT activity, and in such
a way that it does not affect MATCH outcome
B. delay in the playing of an ARENA sound
C. mismatch between the timer on the Audience Screen and the FIELD
Timer
D. any adjustment or delay in assignment of a penalty (including those
made after the MATCH)
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During a TIMEOUT, the ARENA Timer will display the time remaining in the TIMEOUT. Both ALLIANCES
will enjoy the complete six (6) minute window. If an ALLIANCE completes their repairs before the ARENA
Timer expires, the ALLIANCE CAPTAIN is encouraged to inform the Head REFEREE that they are ready
to play. If both ALLIANCES are ready to play before the TIMEOUT expires, the next MATCH will start.
If circumstances require an ALLIANCE to play in back-to-back MATCHES during the Playoff MATCHES,
the Head REFEREE will issue a FIELD TIMEOUT to allow Teams to prepare for the next MATCH. FIELD
TIMEOUTS are the same time duration as TIMEOUTS.
Figure 10-4: TIMEOUT Timeline
T04. An ALLIANCE may not call more than one (1) TIMEOUT during the Playoff MATCHES.
Teams are expected to have their ROBOTS staged on the FIELD by the
end of the TIMEOUT. Teams that cause a significant delay to the start of
a MATCH after a TIMEOUT are subject to 0.
T05. If an ALLIANCE wishes to call a TIMEOUT, the ALLIANCE CAPTAIN must submit their
TIMEOUT coupon to the Head REFEREE within two (2) minutes of the ARENA reset signal
preceding their MATCH. If there is no preceding MATCH, the TIMEOUT coupon must be
submitted no later than two (2) minutes before the scheduled MATCH time. The TIMEOUT will
begin two (2) minutes after the ARENA reset signal (i.e. at the end of the TEAM TIMEOUT
Coupon Window depicted in Figure 10-4)
T06. There are no cascading TIMEOUTS. If an ALLIANCE calls a TIMEOUT during a FIELD
TIMEOUT, the FIELD TIMEOUT will expire two (2) minutes after the ARENA reset signal and the
ALLIANCES TIMEOUT will begin.
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T07. TIMEOUTS are not transferrable between ALLIANCES.
T08. If during a TIMEOUT an ALLIANCE CAPTAIN determines that they need to call up a BACKUP
TEAM, they must submit their BACKUP TEAM coupon to the Head REFEREE while there are still
at least two (2) minutes remaining on the ARENA Timer. After that point, they will not be allowed
to utilize the BACKUP TEAM.
Alternatively, an ALLIANCE CAPTAIN may choose to call up a BACKUP TEAM without using
their TIMEOUT by informing the Head REFEREE directly within two (2) minutes of the Head
REFEREE issuing the ARENA reset signal preceding their MATCH. If there is no preceding
MATCH, the BACKUP TEAM coupon must be submitted no later than two (2) minutes before the
scheduled MATCH time.
In the case where the ALLIANCE CAPTAINS ROBOT is replaced by a BACKUP TEAM, the
ALLIANCE CAPTAIN is allowed as a sixteenth ALLIANCE member.
The Head REFEREE will not accept the BACKUP TEAM coupon unless it lists the number of the
Team whose ROBOT is being replaced, and is initialed by the ALLIANCE CAPTAIN. Once a
BACKUP TEAM coupon is submitted and accepted by the Head REFEREE, the BACKUP TEAM
coupon may not be withdrawn by the ALLIANCE.
T09. An ALLIANCE may request neither a TIMEOUT nor a BACKUP TEAM after a Playoff MATCH is
stopped by the Head REFEREE (e.g. due to an ARENA FAULT or a safety issue). The sole
exception is if the replay is due to an ARENA FAULT that rendered a ROBOT inoperable.
If a Playoff MATCH is replayed per T09, the Head REFEREE has the
option of calling a FIELD TIMEOUT.
T10. Pit Crew members may not be in the ALLIANCE STATION during a MATCH.
Violation: MATCH will not start until the situa tion is corrected. Those not displaying identification
must leave the ARENA.
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10.11.1 Four ROBOT ALLIANCES
Before each Subdivision Playoff Tournament, ALLIANCES will be selected per the process as described
in Section 10.5.1 ALLIANCE Selection Process, however the process will continue with a 3rd round of
selection as follows.
Round 3: The same method is used for each ALLIANCE CAPTAINS third choice except the selection
order is reversed again, with ALLIANCE One picking first and ALLIANCE Eight picking last. This process
results in eight (8) ALLIANCES of four (4) Teams each.
ALLIANCES may start with any three (3) of the four (4) ROBOTS on their ALLIANCE during Subdivision
Playoff MATCHES and during the Championship Playoffs. The list of three (3) Teams participating in the
MATCH and their selected PLAYER STATIONS is called the LINEUP. One representative from the Team
not on the LINEUP is allowed as a sixteenth ALLIANCE member.
T11. The ALLIANCE CAPTAIN must report the LINEUP to the Head REFEREE, or their designee, in
writing prior to end of the preceding MATCH (e.g. the LINEUPS for Quarterfinal 2 must be
submitted before the end of Quarterfinal 1). If there is no preceding MATCH, the LINEUP is due
no later than two (2) minutes before the scheduled MATCH time.
Violation: The LINEUP is the same as the ALLIANCES previous MATCH. If any of these three (3)
ROBOTS are unable to play, the ALLIANCE must play the MATCH with only two (2) (or even one
(1)) ROBOTS
The LINEUP will be kept confidential until the FIELD is set for the MATCH, at which point each
ALLIANCES LINEUP will appear on the Team Signs.
T12. Once the LINEUP has been declared, it cannot be changed unless there is a TIMEOUT. If there
is a TIMEOUT, the ALLIANCE CAPTAIN may submit a different LINEUP, but must do so while
there are still more than two (2) minutes remaining in the TIMEOUT.
T13. If a MATCH must be replayed due to an ARENA FAULT, the LINEUP for the replayed MATCH is
the same as the original MATCH. The sole exception is if the ARENA FAULT rendered a ROBOT
inoperable, in which case the LINEUP can be changed.
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T14. Only Team members wearing proper badges are allowed on the ARENA floor during Subdivision
and Championship Playoff MATCHES
Violation: MATCH will not start until the situation is corrected. Those not displaying identification
must leave the ARENA.
Teams should assume they may be chosen for an ALLIANCE and think
about the logistics of badge distribution and set a plan prior to the
ALLIANCE selection process. It is each ALLIANCE CAPTAINS
responsibility to get the Teams badges to the pit crew members.
T15. In the Championship Playoffs, ALLIANCES do not earn Ranking Points; they earn Championship
Points. Championship Points are units credited to an ALLIANCE based on their performance in
each MATCH and are awarded at the completion of each Round Robin tournament MATCH.
A. The winning ALLIANCE receives two (2) Championship Points
B. The losing ALLIANCE receives zero (0) Championship Points
C. In the event of a tied score, each ALLIANCE receives one (1) Championship Point
Exceptions to A-C are as follows:
D. A DISQUALIFIED Team, as determined by the Head REFEREE, causes their
ALLIANCE to receive zero (0) Championship points.
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The total number of Championship Points earned by a Team throughout the round robin MATCHES
divided by the number of round robin Matches in which theyve been scheduled is their Championship
Score (CS).
All Teams participating in round robin Matches are ranked by Championship Score. If the number of
Teams in attendance is n, they are ranked 1 through n, with 1 being the highest ranked Team and
n being the lowest ranked Team.
In the case where Championship Scores of two or more alliances are equal, the tie is broken using the
criteria in Table 10-6
Table 10-6: Einstein Tournament Ranking Criteria
The two ALLIANCES with the highest Championship Scores at the conclusion of the round robin
tournament advance to the Einstein Finals. In the Einstein Finals, ALLIANCES do not earn points, they
earn a Win, Loss or Tie. The first ALLIANCE to win two (2) MATCHES is declared the 2017 FIRST
Robotics Competition Champions.
T16. During the Einstein Finals, if the MATCH score of each ALLIANCE is equal, the MATCH is
replayed.
T17. If an Einstein ALLIANCE wishes to call a TIMEOUT, the ALLIANCE CAPTAIN must submit their
TIMEOUT coupon to the Head REFEREE (or their designee) within two (2) minutes of the
ARENA reset signal from the previous MATCH. If there is no preceding MATCH, the TIMEOUT
coupon must be submitted no later than two (2) minutes before the scheduled MATCH time. The
TIMEOUT will begin two (2) minutes after the ARENA reset signal (i.e. at the end of the TEAM
TIMEOUT Coupon Window depicted in Figure 10-4.
T18. A team is considered to have already earned a FIRST Championship invitation prior to the
District, Regional, or District Championship if they are:
A. pre-qualified or
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A FIRST Robotics Competition Team listed in the Championship
Eligibility Criteria document is pre-qualified for the FIRST Championship
if the Team meets one of the following criteria:
T20. All Regional events have a minimum of one (1) Wild Card slot. Additional Wild Cards are
generated as follows:
A. Any team competing at a Regional event that has already qualified for the FIRST
Championship prior to the Regional, per T18, and earns an additional spot, per T19,
generates one (1) Wild Card.
B. Any team earning two (2) qualifying spots at a single Regional per T19 (e.g. by being
on the Winning Alliance and earning the Chairmans Award) generates one (1) Wild
Card.
C. A team who has already earned a spot at FIRST Championship prior to their current
Regional, per T18, and earns two qualifying spots, per T19, will generate two Wild
Card slots.
Wild Card slots are distributed to the Finalist ALLIANCE, in the order of team selection per
Section 10.5.1 ALLIANCE Selection Process, until either all Wild Card slots generated at that
event are distributed or the Finalist ALLIANCE is out of teams, whichever comes first.
T21. If a member of the Finalist ALLIANCE has already qualified for the FIRST Championship, per
T18, they are skipped and the next member of the ALLIANCE is awarded the available Wild Card.
T22. Unused Wild Card slots will not be backfilled or replaced.
A Team may decline a Wild Card, but this does not pass the Wild Card
slot down to the next available Team. The Wild Card goes unused.
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T23. Teams selected from the FIRST Championship Waitlist to participate at the FIRST Championship
do not generate Wild Cards.
Category Points
Qualification
Round
Performance
(For a typically sized District event, this will result in a minimum of four (4)
points being awards for Qualification round performance. For events of all
sizes, a maximum of twenty-two (22) points will be awarded.)
ALLIANCE Equal to 17 minus the ALLIANCE CAPTAIN number
CAPTAINS (e.g. 14 points for ALLIANCE #3 Captain)
Draft Order Equal to 17 minus the Draft Order Acceptance Number
Acceptance (e.g. 12 points for the Team that is 5th to accept an invitation)
Playoff Points awarded based on team participation in individual playoff rounds, and
Advancement whether or not the ALLIANCE advances. See details below.
Judged Team 10 points for Chairmans Award
Awards 8 points each for Engineering Inspiration and Rookie All Star Awards
5 points each for all other judged Team awards
Team Age 10 points for Rookie Teams
5 points for second-year Teams
Points earned at District Championships are multiplied by three (3) and then added to points earned at
District events, to determine the final season point total for the Team
If there is a tie in the season point total between teams, those items are broken using the following sorting
criteria:
Table 10-8: District Team sort criteria
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The calculation of Qualification performance points is done using the equation (an inverse error function)
in the table above. The equation utilizes the following variables:
R the qualification rank of the team at the event at the conclusion of Qualification
MATCHES (as reported by FMS)
N the number of FIRST Robotics Competition teams participating in the Qualification
rounds at the event
Alpha () a static value (1.07) used to standardize the distribution of points at events
This formula generates an approximately normal distribution of Qualification Round Performance points at
an event, based on rank, with most teams getting a moderate number of points, and fewer teams getting
the highest or lowest numbers of points available.
Table 10-9 displays sample Qualification Round Performance points for variously ranked teams at a forty
(40) team event. The system will automatically generate the appropriate points for each team based on
their rank and the number of teams at the event.
Table 10-9 Sample Qualification Round Point assignments
Rank 1 2 3 4 19 20 21 37 38 39 40
Points 22 21 20 19 13 13 12 6 6 5 4
ALLIANCE CAPTAINS are recognized based on their qualification round seeding rank. This rank is a
result of the rules of the game, which typically incorporate several team performance attributes, and are
designed to eliminate ties in rank. Non-ALLIANCE CAPTAINS are rewarded based on peer recognition.
To be invited to join an ALLIANCE, a Teams peers have decided that the Team has attributes that are
desirable. Giving points for ALLIANCE selection also supports come-from-behind Teams. A Team taking
several MATCHES to optimize their performance may be recognized as a late bloomer by a top seeded
Team, even if that performance isnt reflected in the rankings because of poor performance in early
MATCHES. These points also have the potential to recognize Teams employing a minority strategy with
their ROBOT. Teams with unique or divergent ROBOT capabilities that complement the strengths of other
ALLIANCE members may be selected to fill a strategic niche.
Note also that ALLIANCE CAPTAINS are given the same number of points as the Team drafted in the
same sequence. For example, the third ALLIANCE CAPTAIN gets the same number of points as the third
draft. Numerical analysis supports the idea that ALLIANCE CAPTAINS are about as strong in ROBOT
performance as equivalently drafted Teams. As an additional minor benefit, awarding the same points for
ALLIANCE CAPTAINS and equivalent drafts lubricates the acceptance of draft offers between ALLIANCE
CAPTAINS, which gives Teams out of the top eight the chance to experience being ALLIANCE
CAPTAINS themselves.
All Teams on the ALLIANCE winning a particular playoff series, who participate in MATCHES with their
ROBOTS, receive five (5) points per MATCH won. In most cases, Teams receive ten (10) points at each
of the Quarterfinal, Semifinal, and Final levels, unless a BACKUP ROBOT is called in to play.
10.12.3.3 Awards
This attribute measures Team performance with respect to Team awards judged at the event.
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The points earned for Team awards in this system are not intended to capture the full value of the award
to the Team winning the award, or to represent the full value of the award to FIRST. In many ways, the
Teams experience in being selected for awards, especially the Chairmans Award, the Engineering
Inspiration Award, and the Rookie All Star Award, is beyond measure, and could not be fully captured in
its entirety by any points-based system. Points are being assigned to awards in this system only to help
Teams recognize that FIRST continues to be More than Robots, with the emphasis on our cultural
awards, and to assist in elevating award-winning Teams above non-award winning Teams in the ranking
system.
Teams only get points for Team awards judged at the event. If an award is not judged, e.g. Rookie
Highest Seed, is not for a Team, e.g. the Deans List Award, or is not judged at the event, e.g. Safety
Animation Award, sponsored by UL, no points are earned.
Points are awarded to Rookie and second year Teams in recognition of the unique challenges Teams
face in those early years, and to increase the chance that they will make it to the District Championship to
compete with their ROBOTS. Like our dedicated Rookie awards, these additional points are intended to
recognize and motivate newer participants in FIRST Robotics Competition. These points are awarded
once at the beginning of the season. Rookie year is calculated based on the year in which FIRST
recognizes the Team as a Rookie.
C. District Engineering Inspiration winner (qualifies to compete for the award only)
D. District Rookie All Star winner (qualifies to compete for the award only)
The capacity of each District Championship is shown in Table 10-10. Each District determines the number
of teams which qualify for their District Championship. These limits are based on factors including but not
limited to the total number of teams in the District, available venue capacity, etc.
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Table 10-10: 2017 District Championship Capacities
These slots are guaranteed to the Districts and populated with the following teams:
qualifying award winners from the District Championship (Chairmans Award, Engineering
Award, and Rookie All Star winners),
teams on the Winning Alliance from the District Championship (including any Back-Up teams
participating),
qualifying award winners among district teams who traveled to Regionals,
teams on the final District ranking list, as deep in the ranking list as the District needs to go to
fill their allocation.
If a District team earns a slot to the FIRST Championship within the season, but is not able to attend, the
top ranked team who has not yet been offered a slot is given the opportunity, and so on, until all slots are
filled. Slots for pre-qualified teams will not be backfilled.
Districts determine the number of Deans List, Chairmans, Rookie All Star, and Engineering Inspiration
Awards to present at their Championship, within a range established by FIRST and shown in Table 10-11.
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Table 10-11: District slot allocations for FIRST Championship
Engineering
Deans List Chairmans Rookie All
Inspiration
Award Award Star Award
Award
FIRST Championship
FIRST Championship
Normalized Slots
District Selection
District Selection
District Selection
District Selection
Max Ratio
Max Ratio
Min Ratio
Min Ratio
Slots
Max
Max
Min
Min
18 9 9 6
FIRST Championship St. Louis
FIRST Chesapeake 23 1 3 2 3 4 4 1 2 2 1 2 1
FIRST in Michigan 82 5 9 5 9 14 14 1 2 1 1 2 2
Indiana FIRST 10 1 1 1 2 2 2 1 2 1 1 2 1
Mid-Atlantic Robotics 22 1 2 2 2 4 4 1 2 2 1 2 1
New England 37 2 4 4 4 6 5 1 2 2 1 2 2
Ontario 29 2 3 3 3 5 5 1 2 1 1 2 1
FIRST Championship Houston
FIRST Israel 16 13 1 1 1 2 2 2 1 2 2 1 2 1
FIRST North Carolina 15 12 1 1 1 2 2 2 1 2 2 1 2 1
Pacific Northwest 39 32 2 4 3 4 5 5 1 2 2 1 2 2
Peachtree 18 15 1 2 1 2 3 3 1 2 2 1 2 1
All Districts, regardless of Championship Slot allocation, may award one (1) or two (2) Engineering
Inspiration and Rookie All-Star Awards.
Chairmans Award and Deans List Award maximums and minimums are determined by ratios applied to
a given Districts Championship Slot allocations. However, Districts assigned to Houston have relatively
larger Championship slot allocations for a given team count compared to Districts assigned to St Louis,
and we did not want these larger allocations to skew award allocations. So, for the purposes of award
allocations only, Championship slots for Houston Districts were normalized, as shown in the table,
reducing the slots allocated to what they would have been if both Championship geographies had the
same total number of FIRST Robotics Competition teams. This normalized slot allocation was then used
to determine award minimums and maximums. As noted, these normalized slot values are used only for
award allocations. The Houston-assigned Districts still retain the full Championship Slots Allocated (the
larger number) shown in the table.
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11 Glossary
Term Definition
AIRSHIP a structure that features an elevated hexagonal deck, slanted walls, rails with
AXLES to mount GEARS, four (4) ROTORS, three (3) LIFTS, a STEAM TANK,
and three (3) ROPES attached to DAVITS
ALLIANCE a cooperative of up to four (4) FIRST Robotics Competition Teams
ALLIANCE The designated student representative from each ALLIANCE in a Playoff
CAPTAIN MATCH
ALLIANCE an 8 ft. 9 in. (~269 cm) by 23 ft. 1 in. (~705 cm) infinitely tall volume
STATION bounded by the ALLIANCE WALL and ALLIANCE colored tape
ALLIANCE WALL the physical structure that separates ROBOTS from DRIVE TEAMS (except the
PILOT) and consists of a BOILER, three (3) PLAYER STATIONS, an Overflow
LOADING STATION and a Return LOADING STATION.
ARENA all elements and areas of the game infrastructure that are required to play
FIRST STEAMWORKSSM: the FIELD, AIRSHIPS, carpet, scoring elements,
and all equipment and areas needed for FIELD control, ROBOT control, and
scorekeeping
ARENA FAULT an error in ARENA operation that includes, but arent limited to those listed in
Section 10.8 MATCH Replays.
AUTO the first fifteen (15) seconds of a MATCH in which ROBOTS operate without
any DRIVE TEAM control or input
AXLE a -in. diameter (~2 cm), 2-in. (~5 cm) long shaft which fits the central hub of a
GEAR. AXLES are installed on the RAIL of the AIRSHIP.
BACKUP TEAM The Team whose ROBOT and DRIVE TEAM replaces another ROBOT and
DRIVE TEAM on an ALLIANCE during the Playoff MATCHES
a Teams flag to be displayed on their PLAYER STATION during MATCHES
BANNER
(see specifications here)
BASE LINE a green line that spans the width of the FIELD and is 7 ft. 9 in. (~237 cm) from
the ALLIANCE WALL diamond plate
BOILER a FIELD element which converts FUEL to steam. There is a BOILER on each
corner of the FIELD opposite the scoring table. The base of each BOILER is 3
ft. 6 in. wide (~107 cm) by 3 ft. 6 in. (~107 cm) deep by 8 ft. 1 in. (~246 cm) tall.
There are two (2) openings, or GOALS, for loading FUEL into the BOILER: the
High Efficiency GOAL and the Low Efficiency
BUMPER a required assembly which attaches to the ROBOT frame. BUMPERS are
important because they protect ROBOTS from damaging/being damaged by
other ROBOTS and FIELD elements
BUMPER ZONE the volume contained between the floor and a virtual horizontal plane 7 in. (~17
cm) above the floor in reference to the ROBOT standing normally on a flat floor
BYPASSED any ROBOT which is unable or ineligible to participate in that MATCH as
determined by the FTA, LRI, or Head REFEREE resulting in a ROBOT which is
disabled)
COACH a precollege student or adult mentor member of the DRIVE TEAM responsible
for acting as a guide or advisor
COMPONENT any part in its most basic configuration, which cannot be disassembled without
damaging or destroying the part or altering its fundamental function
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Term Definition
COTS a standard (i.e. not custom order) part commonly available from a VENDOR for
all Teams for purchase. To be a COTS item, the COMPONENT or
MECHANISM must be in an unaltered, unmodified state (with the exception of
installation or modification of any software).
CRANK a handle located with the first GEAR in the set
CUSTOM CIRCUIT any electrical component of the robot other than motors, pneumatic solenoids,
roboRIO, PDP, PCM, VRM, RSL, 120A breaker, motor controllers, relay
modules (per R34-B), wireless bridge, or batteries.
DAVIT one of three steel frames that attaches a ROPE to the AIRSHIP
DISABLED a state in which a ROBOT is commanded to deactivate all outputs, rendering
the ROBOT inoperable for the remainder of the MATCH
DISQUALIFIED the status of a Team, as determined by the Head REFEREE, in which their
Team receives zero (0) Match points in a qualification MATCH or causes their
ALLIANCE to receive zero (0) Match points in a Playoff MATCH
DRIVER a precollege student member of the DRIVE TEAM responsible for operating
and controlling the ROBOT
DRIVE TEAM a set of up to five (5) people from the same FIRST Robotics Competition Team
responsible for Team performance during a MATCH
FABRICATED ITEM any COMPONENT or MECHANISM that has been altered, built, cast,
constructed, concocted, created, cut, heat treated, machined, manufactured,
modified, painted, produced, surface coated, or conjured partially or completely
into the final form in which it will be used on the ROBOT
FIELD a 27 ft. by 54 ft. 4 in. (~823 cm by ~1656 cm) area, bounded by and including
the upward- and inward-facing surfaces of the GUARDRAILS and ALLIANCE
WALLS
FIELD STAFF REFEREES, FTAs, or other staff working around the FIELD
FMS the Field Management System (FMS)
FOUL a penalty assessed by a REFEREE upon a rule violation resulting in 5 points
credited towards the opponents total score
FRAME the polygon contained within the BUMPER ZONE, that is comprised of fixed,
PERIMETER non-articulated structural elements of the ROBOT
FTA a FIRST Technical Advisor
FUEL a GAME PIECE used to generate steam for the AIRSHIP and is represented by
Screamin Yellow, 5 in. (nominal) diameter Gopher ResisDent polyethylene
balls
GAME PIECE GEAR or FUEL
GEAR a GAME PIECE that is a toothed wheel used to start ROTORS on the AIRSHIP.
Each GEAR is made from gold (Pantone PMC 124C) polypropylene, has 10
teeth, an 11 in. (~28 cm) diameter, 10 in. (~25 cm) pitch diameter, and is 2 in.
(~5 cm) thick
GOAL an opening for loading FUEL into the BOILER
GUARDRAIL a system that consists of transparent polycarbonate supported on the top and
bottom by aluminum extrusion. The GUARDRAIL prevents ROBOTS from
inadvertently exiting the FIELD during a MATCH.
HOPPER a pair of containers located just outside the FIELD and used to store FUEL at
the start of the MATCH
HUMAN PLAYER a pre-college student DRIVE TEAM member responsible for managing GAME
PIECES
KEY an infinitely tall volume in the ALLIANCES LAUNCHPAD bounded by the
ALLIANCE WALL, GUARDRAIL, and ALLIANCE colored tape
KOP Kit of Parts, the collection of items listed on any Kickoff Kit Checklists,
distributed via FIRST Choice, or paid for completely, except shipping, with a
Product Donation Voucher (PDV).
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Term Definition
LAUNCHING shooting in the air, kicking or rolling across the floor with an active mechanism,
or throwing in a forceful way
LAUNCHPAD an infinitely tall volume in the FIELD bounded by the GUARDRAILS, the
ALLIANCE WALL, and the LAUNCHPAD LINE. The volume above the
LAUNCHPAD LINE is part of the LAUNCHPAD.
LAUNCHPAD LINE a tape line that is the width of the FIELD and collinear with the edge of the
AIRSHIP deck that is closest to the center of the FIELD
LIFT an assembly used to transfer GEARS from the ROBOTS to the PILOTS
LINEUP The list of three (3) Teams participating in the MATCH and their selected
PLAYER STATIONS
LOADING LANE an area bounded by and including ALLIANCE colored tape, edge of the carpet,
the RETURN BIN Table, and the opponents ALLIANCE WALL
LOADING STATION an assembly used to feed FUEL and GEARS on to the FIELD. Each Return
LOADING STATION includes a 6 ft. 6 in. (~198 cm) in. tall and 6 ft. 3 in.
(~192 cm) wide polycarbonate panel with two (2) openings, aluminum frame.
RETRIEVAL ZONE an infinitely tall volume inside the FIELD bounded by the ALLIANCE WALL,
GUARDRAIL and ALLIANCE colored tape. The RETRIEVAL ZONE includes
the volume above the tape.
MATCH a two (2) minute and thirty (30) second period of time in which ALLIANCES play
FIRST STEAMWORKS
MECHANISM a COTS or custom assembly of COMPONENTS that provide specific
functionality on the ROBOT. A MECHANISM can be disassembled (and then
reassembled) into individual COMPONENTS without damage to the parts
MXP MyRIO eXpansion Port, the expansion port on the roboRIO
NEUTRAL ZONE an infinitely tall volume on the FIELD bounded by the GUARDRAILS and the
LAUNCHPAD LINES. The volume above the LAUNCHPAD LINES is not part of
the NEUTRAL ZONE
OPERATOR the set of COMPONENTS and MECHANISMS used by the DRIVERS and/or
CONSOLE HUMAN PLAYER to relay commands to the ROBOT
OVERFLOW BIN one of the plastic open-topped containers, 2 ft. 9 in. (~85 cm) wide by 1 ft. 6
in. (~46 cm) deep by 1 ft. 1 in. (~33 cm) tall, and each has a capacity of
approximately fifty to sixty (50-60) FUEL
PASSIVE any device or circuit whose capability is limited to the conduction and/or static
CONDUCTORS regulation of the electrical energy applied to it (e.g. wire, splices, connectors,
printed wiring board, etc.)
PCM Pneumatic Control Module
PDP Power Distribution Panel
PILOT a pre-college student DRIVE TEAM member responsible for installing GEARS,
starting ROTORS, and deploying ROPES
one (1) of three (3) assigned positions in an ALLIANCE WALL from where a
PLAYER STATION
DRIVE TEAM operates their ROBOT
a penalty assessed for egregious ROBOT or Team member behavior, or rule
RED CARD
violations, which results in a Team being DISQUALIFIED for the MATCH
an official who is certified by FIRST to enforce the rules of FIRST
REFEREE
STEAMWORKS
RETURN BIN one of the plastic open-topped containers, 2 ft. 9 in. (~85 cm) wide by 1 ft. 6
in. (~46 cm) deep by 1 ft. 1 in. (~33 cm) tall, and each has a capacity of
approximately fifty to sixty (50-60) FUEL
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Term Definition
an electromechanical assembly built by the FIRST Robotics Competition
Team to perform specific tasks when competing in FIRST
STEAMWORKSSM. The ROBOT must include all of the basic systems required
ROBOT
to be an active participant in the game power, communications, control,
BUMPERS, and movement. The ROBOT implementation must obviously follow
a design approach intended to play FIRST STEAMWORKS
a strong, thick string composed of twisted or braided strands of manila, hemp,
ROPE flax, or the like, secured to the airship, and used to secure robots for flight at the
end of the match
ROTOR one of four (4) rotating airfoils
RP Ranking Point, a unit credited to a Team based on their ALLIANCES
performance in Qualification MATCHES
RS Ranking Score, the total number of Ranking Points earned by a Team
throughout their Qualification MATCHES divided by the number of MATCHES
theyve been scheduled to play (minus any SURROGATE MATCH), then
truncated to two (2) decimal places
STARTING the physical configuration and orientation of the ROBOT at the beginning of the
CONFIGURATION MATCH where no part of the ROBOT shall extend outside the vertical
projection of the FRAME PERIMETER, with the exception of its BUMPERS and
minor protrusions such as bolt heads, fastener ends, rivets, etc.
STARTING LINE a white tape line that runs the width of the carpet and is 2 ft. 6 in. (~76 cm)
behind the ALLIANCE WALL diamond plate
STEAMACRIT one who complains about non-working gears being used while coating a Nerf
gun with paint and calling it a raygun. (courtesy TimeTinker on The
Steampunk Forum at Brass Goggles)
STEAM PIPE a clear PVC pipe that transfers steam from the BOILER to the STEAM TANK
on the AIRSHIP
STEAM TANK a 6-ft. (~183 cm) tall hexagonal container with a diagonal dimension of 2 ft.
(~61 cm) centrally mounted on the deck. It is filled via a STEAM PIPE that
originates at the BOILERS.
SURROGATE a Team randomly assigned by the FIELD Management System to play an extra
Qualification MATCH
TECH FOUL 25 points credited towards the opponents total score
TELEOP the second period in a MATCH and is two minutes and fifteen seconds (2:15)
long
TIMEOUT a period of up to six (6) minutes between MATCHES which is used to pause
Playoff MATCH progression
a 10 in. (~25 cm) polycarbonate plate mounted 4 ft. 10 in. (~147 cm) above the
TOUCHPAD carpet and used to determine if a ROBOT has successfully latched on to the
AIRSHIP
VRM Voltage Regulator Module
WITHHOLDING a static set of FABRICATED ITEMS that shall not exceed 30 lbs. (~13 kg.),
ALLOWANCE brought to an event (or Robot Access Period) in addition to the bagged items,
to be used to repair and/or upgrade their ROBOT
YELLOW CARD a warning issued by the Head REFEREE for egregious ROBOT or Team
member behavior or rule violations. A subsequent YELLOW CARD within the
same tournament phase will lead to a RED CARD.
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Section 11 Glossary
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